trajectory_2d list | goal_2d list | trajectory_3d list | shorter_trajectory_2d list | shorter_trajectory_3d list | subsampled_trajectory_2d list | lang_goal string | text string | label string | label_list list | horizon int64 | curvature float64 | image image | camera_params string |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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[
... | [
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[
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... | [
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[
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-0.0757130431... | [
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[
758,
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[
724,
395
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[
638,
384
],
[
604,
373
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] | Navigate to x=0, y=0 | Move forward along center-right, curve gently around the central pillar, avoid pillar and people cluster, stay on tiled floor. | <loc0568><loc0669><loc0606><loc0597><loc0579><loc0561><loc0510><loc0546><loc0483><loc0530> | [
[
"<loc0568>",
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],
[
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"<loc0597>"
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[
"<loc0579>",
"<loc0561>"
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[
"<loc0510>",
"<loc0546>"
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[
"<loc0483>",
"<loc0530>"
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] | 212 | 1.627905 | {"resolution": {"width": 1280, "height": 720}, "camera_matrix": {"data": [608.116, 0.0, 639.186, 0.0, 607.871, 363.069, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9981348, 0.0, 0.0610485, 0.33, 0.0, 1.0, 0.0, 0.0, -0.0610485, 0.0, 0.9981348, 0.65, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "... | |
[
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[
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[
636,
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[
634,
667
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[
633,
656
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[
633,
645
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[
636,
635
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[
642,
625
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[
648,
614
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[
648,
605
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[
648,
597
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[
647,
591
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[
... | [
676,
373
] | [
[
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[
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[
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[
2.939465816057094,
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-0.0757130431... | [
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[
642,
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[
644,
682
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[
646,
667
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[
647,
656
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[
647,
645
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[
644,
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[
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[
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[
632,
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[
632,
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[
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[
... | [
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[
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[
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-0.0757130431... | [
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[
522,
420
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[
556,
395
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[
642,
384
],
[
676,
373
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] | Navigate to x=0, y=0 | Keep left of center, arc tightly around the pillar's left side, avoid queue ropes and people, remain on tiled floor. | <loc0455><loc0669><loc0417><loc0597><loc0444><loc0561><loc0513><loc0546><loc0540><loc0530> | [
[
"<loc0455>",
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[
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[
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"<loc0561>"
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[
"<loc0513>",
"<loc0546>"
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[
"<loc0540>",
"<loc0530>"
]
] | 212 | 1.627905 | {"resolution": {"width": 1280, "height": 720}, "camera_matrix": {"data": [608.116, 0.0, 639.186, 0.0, 607.871, 363.069, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9981348, 0.0, 0.0610485, 0.33, 0.0, 1.0, 0.0, 0.0, -0.0610485, 0.0, 0.9981348, 0.65, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "... | |
[
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[
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[
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],
[
654,
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],
[
658,
656
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[
660,
645
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[
659,
635
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[
655,
625
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[
652,
614
],
[
654,
605
],
[
656,
597
],
[
659,
591
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[
... | [
499,
373
] | [
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-0.0709850877163305
],
[
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-0.04035656263556575,
-0.0757130431... | [
[
642,
714
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[
642,
698
],
[
644,
682
],
[
646,
667
],
[
647,
656
],
[
647,
645
],
[
644,
635
],
[
638,
625
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[
632,
614
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[
632,
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[
632,
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[
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[
... | [
[
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],
[
2.740744500599561,
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[
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-0.0709850877163305
],
[
2.939465816057094,
-0.04035656263556575,
-0.0757130431... | [
[
807,
471
],
[
948,
420
],
[
851,
395
],
[
614,
384
],
[
499,
373
]
] | Navigate to x=0, y=0 | Swing wide to the right, pass near the right wall and doorways, detour around the pillar on the right, remain on tiled floor. | <loc0645><loc0669><loc0758><loc0597><loc0680><loc0561><loc0491><loc0546><loc0399><loc0530> | [
[
"<loc0645>",
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],
[
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"<loc0597>"
],
[
"<loc0680>",
"<loc0561>"
],
[
"<loc0491>",
"<loc0546>"
],
[
"<loc0399>",
"<loc0530>"
]
] | 212 | 2.918975 | {"resolution": {"width": 1280, "height": 720}, "camera_matrix": {"data": [608.116, 0.0, 639.186, 0.0, 607.871, 363.069, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9981348, 0.0, 0.0610485, 0.33, 0.0, 1.0, 0.0, 0.0, -0.0610485, 0.0, 0.9981348, 0.65, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "... | |
[
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[
1149,
706
],
[
1138,
694
],
[
1141,
689
],
[
1134,
686
],
[
1138,
686
],
[
1146,
686
],
[
1156,
688
],
[
1166,
690
],
[
1176,
693
],
[
1187,
695
],
[
1201,
697... | [
482,
436
] | [
[
2.455349256842581,
-1.5230654270126927,
0.06069876048878342
],
[
2.506108100043207,
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0.06293496489232808
],
[
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-1.5246843494374853,
0.07066909811862843
],
[
2.5741045888740786,
-1.5329173118479944,
0.0729983436876651... | [
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718
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[
1149,
706
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[
1138,
694
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[
1141,
689
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[
1134,
686
],
[
1138,
686
],
[
1146,
686
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[
1156,
688
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[
1166,
690
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[
1176,
693
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[
1187,
695
],
[
1201,
697... | [
[
2.455349256842581,
-1.5230654270126927,
0.06069876048878342
],
[
2.506108100043207,
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0.06293496489232808
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[
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0.07066909811862843
],
[
2.5741045888740786,
-1.5329173118479944,
0.0729983436876651... | [
[
1224,
707
],
[
1131,
614
],
[
841,
535
],
[
523,
455
],
[
482,
436
]
] | Navigate to x=0, y=0 | Proceed straight across the carpet, pass the central column on its left, avoid the wooden slats and glass doors, and stay on carpeted floor. | <loc0979><loc1005><loc0904><loc0873><loc0672><loc0760><loc0418><loc0647><loc0385><loc0620> | [
[
"<loc0979>",
"<loc1005>"
],
[
"<loc0904>",
"<loc0873>"
],
[
"<loc0672>",
"<loc0760>"
],
[
"<loc0418>",
"<loc0647>"
],
[
"<loc0385>",
"<loc0620>"
]
] | 226 | 1.737838 | {"resolution": {"width": 1280, "height": 720}, "camera_matrix": {"data": [608.116, 0.0, 639.186, 0.0, 607.871, 363.069, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9981348, 0.0, 0.0610485, 0.33, 0.0, 1.0, 0.0, 0.0, -0.0610485, 0.0, 0.9981348, 0.65, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "... | |
[
[
1162,
718
],
[
1151,
706
],
[
1141,
694
],
[
1146,
689
],
[
1140,
686
],
[
1145,
686
],
[
1155,
686
],
[
1166,
688
],
[
1177,
690
],
[
1189,
693
],
[
1201,
695
],
[
1216,
697... | [
282,
436
] | [
[
2.455349256842581,
-1.5230654270126927,
0.06069876048878342
],
[
2.506108100043207,
-1.5191727057582276,
0.06293496489232808
],
[
2.550545561148681,
-1.5246843494374853,
0.07066909811862843
],
[
2.5741045888740786,
-1.5329173118479944,
0.0729983436876651... | [
[
1161,
718
],
[
1149,
706
],
[
1138,
694
],
[
1141,
689
],
[
1134,
686
],
[
1138,
686
],
[
1146,
686
],
[
1156,
688
],
[
1166,
690
],
[
1176,
693
],
[
1187,
695
],
[
1201,
697... | [
[
2.455349256842581,
-1.5230654270126927,
0.06069876048878342
],
[
2.506108100043207,
-1.5191727057582276,
0.06293496489232808
],
[
2.550545561148681,
-1.5246843494374853,
0.07066909811862843
],
[
2.5741045888740786,
-1.5329173118479944,
0.0729983436876651... | [
[
1279,
707
],
[
1251,
614
],
[
870,
535
],
[
424,
455
],
[
282,
436
]
] | Navigate to x=0, y=0 | Take a slightly wider right-offset route across the carpet, skirt away from the slats and pillar, and avoid the glass door threshold. | <loc1023><loc1005><loc1001><loc0873><loc0696><loc0760><loc0339><loc0647><loc0226><loc0620> | [
[
"<loc1023>",
"<loc1005>"
],
[
"<loc1001>",
"<loc0873>"
],
[
"<loc0696>",
"<loc0760>"
],
[
"<loc0339>",
"<loc0647>"
],
[
"<loc0226>",
"<loc0620>"
]
] | 226 | 1.685019 | {"resolution": {"width": 1280, "height": 720}, "camera_matrix": {"data": [608.116, 0.0, 639.186, 0.0, 607.871, 363.069, 0.0, 0.0, 1.0], "rows": 3, "cols": 3}, "T_imu_to_camera": {"data": [0.9981348, 0.0, 0.0610485, 0.33, 0.0, 1.0, 0.0, 0.0, -0.0610485, 0.0, 0.9981348, 0.65, 0.0, 0.0, 0.0, 1.0], "rows": 4, "cols": 4}, "... | |
[[1161,718],[1150,706],[1139,694],[1143,689],[1136,686],[1141,686],[1150,686],[1160,688],[1171,690],(...TRUNCATED) | [
545,
436
] | [[2.455349256842581,-1.5230654270126927,0.06069876048878342],[2.506108100043207,-1.5191727057582276,(...TRUNCATED) | [[1161,718],[1149,706],[1138,694],[1141,689],[1134,686],[1138,686],[1146,686],[1156,688],[1166,690],(...TRUNCATED) | [[2.455349256842581,-1.5230654270126927,0.06069876048878342],[2.506108100043207,-1.5191727057582276,(...TRUNCATED) | [
[
1251,
707
],
[
1185,
614
],
[
909,
535
],
[
602,
455
],
[
545,
436
]
] | Navigate to x=0, y=0 | "Follow a near-straight route across the carpet, gently offset to avoid the column and wooden slats (...TRUNCATED) | <loc1001><loc1005><loc0948><loc0873><loc0727><loc0760><loc0482><loc0647><loc0436><loc0620> | [["<loc1001>","<loc1005>"],["<loc0948>","<loc0873>"],["<loc0727>","<loc0760>"],["<loc0482>","<loc064(...TRUNCATED) | 226 | 1.853944 | "{\"resolution\": {\"width\": 1280, \"height\": 720}, \"camera_matrix\": {\"data\": [608.116, 0.0, 6(...TRUNCATED) | |
[[715,714],[720,698],[725,684],[731,672],[741,659],[747,646],[753,634],[762,626],[772,618],[783,607](...TRUNCATED) | [
862,
359
] | [[2.4895493575324394,-0.4454395785793963,0.015309207585310958],[2.551503727368413,-0.476926434924848(...TRUNCATED) | [[715,714],[720,698],[725,684],[731,672],[741,659],[747,646],[753,634],[762,626],[772,618],[783,607](...TRUNCATED) | [[2.4895493575324394,-0.4454395785793963,0.015309207585310958],[2.551503727368413,-0.476926434924848(...TRUNCATED) | [
[
892,
483
],
[
922,
419
],
[
868,
389
],
[
828,
368
],
[
862,
359
]
] | Navigate to x=0, y=0 | "Proceed along center of paved sidewalk, pass between hedge and lamp post, avoid pedestrians; remain(...TRUNCATED) | <loc0713><loc0686><loc0737><loc0595><loc0694><loc0553><loc0662><loc0523><loc0689><loc0510> | [["<loc0713>","<loc0686>"],["<loc0737>","<loc0595>"],["<loc0694>","<loc0553>"],["<loc0662>","<loc052(...TRUNCATED) | 189 | 1.422407 | "{\"resolution\": {\"width\": 1280, \"height\": 720}, \"camera_matrix\": {\"data\": [608.116, 0.0, 6(...TRUNCATED) | |
[[714,714],[719,698],[724,684],[730,672],[740,659],[746,646],[752,634],[761,626],[771,618],[782,607](...TRUNCATED) | [
979,
359
] | [[2.4895493575324394,-0.4454395785793963,0.015309207585310958],[2.551503727368413,-0.476926434924848(...TRUNCATED) | [[715,714],[720,698],[725,684],[731,672],[741,659],[747,646],[753,634],[762,626],[772,618],[783,607](...TRUNCATED) | [[2.4895493575324394,-0.4454395785793963,0.015309207585310958],[2.551503727368413,-0.476926434924848(...TRUNCATED) | [
[
888,
483
],
[
915,
419
],
[
877,
389
],
[
891,
368
],
[
979,
359
]
] | Navigate to x=0, y=0 | "Follow sidewalk slightly right of center toward the curb, pass lamp post on left, avoid pedestrians(...TRUNCATED) | <loc0710><loc0686><loc0732><loc0595><loc0702><loc0553><loc0713><loc0523><loc0783><loc0510> | [["<loc0710>","<loc0686>"],["<loc0732>","<loc0595>"],["<loc0702>","<loc0553>"],["<loc0713>","<loc052(...TRUNCATED) | 189 | 1.284436 | "{\"resolution\": {\"width\": 1280, \"height\": 720}, \"camera_matrix\": {\"data\": [608.116, 0.0, 6(...TRUNCATED) | |
[[715,714],[721,698],[727,684],[734,672],[745,659],[752,646],[759,634],[768,626],[779,618],[791,607](...TRUNCATED) | [
461,
359
] | [[2.4895493575324394,-0.4454395785793963,0.015309207585310958],[2.551503727368413,-0.476926434924848(...TRUNCATED) | [[715,714],[720,698],[725,684],[731,672],[741,659],[747,646],[753,634],[762,626],[772,618],[783,607](...TRUNCATED) | [[2.4895493575324394,-0.4454395785793963,0.015309207585310958],[2.551503727368413,-0.476926434924848(...TRUNCATED) | [
[
924,
483
],
[
987,
419
],
[
883,
389
],
[
635,
368
],
[
461,
359
]
] | Navigate to x=0, y=0 | "Follow sidewalk slightly right of baseline toward curb, bypass lamp post and pedestrians; remain on(...TRUNCATED) | <loc0739><loc0686><loc0789><loc0595><loc0706><loc0553><loc0508><loc0523><loc0369><loc0510> | [["<loc0739>","<loc0686>"],["<loc0789>","<loc0595>"],["<loc0706>","<loc0553>"],["<loc0508>","<loc052(...TRUNCATED) | 189 | 2.210607 | "{\"resolution\": {\"width\": 1280, \"height\": 720}, \"camera_matrix\": {\"data\": [608.116, 0.0, 6(...TRUNCATED) | |
[[503,520],[503,487],[503,454],[503,426],[506,404],[504,383],[504,366],[505,351],[505,336],[503,323](...TRUNCATED) | [
1021,
46
] | [[4.721923317155728,0.08038661770359568,0.017482298379746908],[5.009822731554607,0.08174752858661805(...TRUNCATED) | [[503,520],[503,487],[503,454],[503,426],[506,404],[504,383],[504,366],[505,351],[505,336],[503,323](...TRUNCATED) | [[4.721923317155728,0.08038661770359568,0.017482298379746908],[5.009822731554607,0.08174752858661805(...TRUNCATED) | [
[
432,
147
],
[
382,
98
],
[
399,
54
],
[
546,
54
],
[
1021,
46
]
] | Navigate to x=0, y=0 | "Follow the central dirt/rock track straight uphill on the trail, staying between dense shrubs and a(...TRUNCATED) | <loc0432><loc0276><loc0382><loc0184><loc0399><loc0101><loc0546><loc0101><loc1021><loc0086> | [["<loc0432>","<loc0276>"],["<loc0382>","<loc0184>"],["<loc0399>","<loc0101>"],["<loc0546>","<loc010(...TRUNCATED) | 350 | 1.677837 | "{\"resolution\": {\"width\": 1024, \"height\": 544}, \"camera_matrix\": {\"data\": [477.60494995117(...TRUNCATED) |
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