{
  "backend": "mujoco",
  "coordinate_frame": "ENU world, FLU body",
  "scene_scope": "Town10 RGB crops on a planar proxy; not Town10 city geometry",
  "route_enu_m": [
    [
      -3.0,
      -4.0,
      1.5
    ],
    [
      -1.0,
      -4.0,
      1.5
    ],
    [
      1.0,
      -4.0,
      1.5
    ],
    [
      3.0,
      -4.0,
      1.5
    ],
    [
      3.0,
      -4.0,
      3.0
    ],
    [
      1.0,
      -4.0,
      3.0
    ],
    [
      -1.0,
      -4.0,
      3.0
    ],
    [
      -3.0,
      -4.0,
      3.0
    ],
    [
      -3.0,
      -4.0,
      4.5
    ],
    [
      -1.0,
      -4.0,
      4.5
    ],
    [
      1.0,
      -4.0,
      4.5
    ],
    [
      3.0,
      -4.0,
      4.5
    ]
  ],
  "captures": [
    {
      "file": "capture_000.png",
      "waypoint": 0,
      "time_s": 0.0,
      "position_enu_m": [
        -3.0,
        -4.0,
        1.5
      ],
      "orientation_enu_flu_xyzw": [
        0.0,
        0.0,
        0.7071067811865476,
        0.7071067811865476
      ],
      "target_enu_m": [
        -3.0,
        -4.0,
        1.5
      ],
      "position_error_m": 0.0
    },
    {
      "file": "capture_001.png",
      "waypoint": 1,
      "time_s": 3.9000000000000004,
      "position_enu_m": [
        -1.1464277047778293,
        -4.0,
        1.5
      ],
      "orientation_enu_flu_xyzw": [
        0.0,
        0.0,
        0.7071067811865476,
        0.7071067811865476
      ],
      "target_enu_m": [
        -1.0,
        -4.0,
        1.5
      ],
      "position_error_m": 0.1464277047778293
    },
    {
      "file": "capture_002.png",
      "waypoint": 2,
      "time_s": 7.95,
      "position_enu_m": [
        0.8539804870529005,
        -4.0,
        1.5
      ],
      "orientation_enu_flu_xyzw": [
        0.0,
        0.0,
        0.7071067811865476,
        0.7071067811865476
      ],
      "target_enu_m": [
        1.0,
        -4.0,
        1.5
      ],
      "position_error_m": 0.14601951294709947
    },
    {
      "file": "capture_003.png",
      "waypoint": 3,
      "time_s": 12.0,
      "position_enu_m": [
        2.8540315675699985,
        -4.0,
        1.5
      ],
      "orientation_enu_flu_xyzw": [
        0.0,
        0.0,
        0.7071067811865476,
        0.7071067811865476
      ],
      "target_enu_m": [
        3.0,
        -4.0,
        1.5
      ],
      "position_error_m": 0.14596843243000146
    },
    {
      "file": "capture_004.png",
      "waypoint": 4,
      "time_s": 15.15,
      "position_enu_m": [
        2.9704949222779513,
        -4.0,
        2.8530001189658685
      ],
      "orientation_enu_flu_xyzw": [
        0.0,
        0.0,
        0.7071067811865476,
        0.7071067811865476
      ],
      "target_enu_m": [
        3.0,
        -4.0,
        3.0
      ],
      "position_error_m": 0.1499316999017651
    },
    {
      "file": "capture_005.png",
      "waypoint": 5,
      "time_s": 19.150000000000002,
      "position_enu_m": [
        1.144904286839945,
        -4.0,
        2.970552630750295
      ],
      "orientation_enu_flu_xyzw": [
        0.0,
        0.0,
        0.7071067811865476,
        0.7071067811865476
      ],
      "target_enu_m": [
        1.0,
        -4.0,
        3.0
      ],
      "position_error_m": 0.1478661553578828
    },
    {
      "file": "capture_006.png",
      "waypoint": 6,
      "time_s": 23.3,
      "position_enu_m": [
        -0.8554197662364571,
        -4.0,
        2.970556802169114
      ],
      "orientation_enu_flu_xyzw": [
        0.0,
        0.0,
        0.7071067811865476,
        0.7071067811865476
      ],
      "target_enu_m": [
        -1.0,
        -4.0,
        3.0
      ],
      "position_error_m": 0.14754777495316357
    },
    {
      "file": "capture_007.png",
      "waypoint": 7,
      "time_s": 27.450000000000003,
      "position_enu_m": [
        -2.8554572356814294,
        -4.0,
        2.9705568021691424
      ],
      "orientation_enu_flu_xyzw": [
        0.0,
        0.0,
        0.7071067811865476,
        0.7071067811865476
      ],
      "target_enu_m": [
        -3.0,
        -4.0,
        3.0
      ],
      "position_error_m": 0.147511059298484
    },
    {
      "file": "capture_008.png",
      "waypoint": 8,
      "time_s": 30.700000000000003,
      "position_enu_m": [
        -2.973944491018493,
        -4.0,
        4.354516635585354
      ],
      "orientation_enu_flu_xyzw": [
        0.0,
        0.0,
        0.7071067811865476,
        0.7071067811865476
      ],
      "target_enu_m": [
        -3.0,
        -4.0,
        4.5
      ],
      "position_error_m": 0.14779816937191734
    },
    {
      "file": "capture_009.png",
      "waypoint": 9,
      "time_s": 34.7,
      "position_enu_m": [
        -1.1455166325502248,
        -4.0,
        4.472288874216092
      ],
      "orientation_enu_flu_xyzw": [
        0.0,
        0.0,
        0.7071067811865476,
        0.7071067811865476
      ],
      "target_enu_m": [
        -1.0,
        -4.0,
        4.5
      ],
      "position_error_m": 0.14813168749787708
    },
    {
      "file": "capture_010.png",
      "waypoint": 10,
      "time_s": 38.85,
      "position_enu_m": [
        0.853594570670787,
        -4.0,
        4.472289328385589
      ],
      "orientation_enu_flu_xyzw": [
        0.0,
        0.0,
        0.7071067811865476,
        0.7071067811865476
      ],
      "target_enu_m": [
        1.0,
        -4.0,
        4.5
      ],
      "position_error_m": 0.14900480213198802
    },
    {
      "file": "capture_011.png",
      "waypoint": 11,
      "time_s": 43.0,
      "position_enu_m": [
        2.85349215140626,
        -4.0,
        4.472289328385589
      ],
      "orientation_enu_flu_xyzw": [
        0.0,
        0.0,
        0.7071067811865476,
        0.7071067811865476
      ],
      "target_enu_m": [
        3.0,
        -4.0,
        4.5
      ],
      "position_error_m": 0.14910543591998227
    }
  ]
}