diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-03-05_16931/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-03-05_16931/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aaa3dcd6dd7294a369374306663a79d43caa5916 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-03-05_16931/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -804.0646296556844, + -2001.766178089313, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -801.0646296556844, + -2001.766178089313, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -801.0646296556844, + -2001.766178089313, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -801.0646296556844, + -2001.766178089313, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -799.5646296556844, + -1999.1681018779595, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -798.0646296556844, + -1996.5700256666062, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -796.5646296556844, + -1993.9719494552528, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -796.5646296556844, + -1993.9719494552528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -793.9665534443311, + -1992.4719494552528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -791.3684772329777, + -1990.9719494552528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -788.7704010216244, + -1989.4719494552528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -786.172324810271, + -1987.9719494552528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -783.5742485989176, + -1986.4719494552528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -780.9761723875642, + -1984.9719494552528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -778.3780961762109, + -1983.4719494552528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -775.7800199648575, + -1981.9719494552528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -773.1819437535041, + -1980.4719494552528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -770.5838675421508, + -1978.9719494552528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -767.9857913307974, + -1977.4719494552528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -765.387715119444, + -1975.9719494552528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -762.7896389080906, + -1974.4719494552528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -760.1915626967373, + -1972.9719494552528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -757.5934864853839, + -1971.4719494552528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -754.9954102740305, + -1969.9719494552528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -752.3973340626771, + -1968.4719494552528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -749.7992578513238, + -1966.9719494552528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -747.2011816399704, + -1965.4719494552528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -744.603105428617, + -1963.9719494552528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -742.0050292172637, + -1962.4719494552528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -739.4069530059103, + -1960.9719494552528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -736.8088767945569, + -1959.4719494552528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -734.2108005832035, + -1957.9719494552528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -731.6127243718502, + -1956.4719494552528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -729.0146481604968, + -1954.9719494552528, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -729.0146481604968, + -1954.9719494552528, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -729.0146481604968, + -1954.9719494552528, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -726.4165719491434, + -1953.4719494552528, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -723.81849573779, + -1951.9719494552528, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -721.2204195264367, + -1950.4719494552528, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -718.6223433150833, + -1948.9719494552528, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -716.0242671037299, + -1947.4719494552528, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -713.4261908923766, + -1945.9719494552528, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -710.8281146810232, + -1944.4719494552528, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -708.2300384696698, + -1942.9719494552528, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -705.6319622583164, + -1941.4719494552528, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -703.0338860469631, + -1939.9719494552528, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -700.4358098356097, + -1938.4719494552528, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -697.8377336242563, + -1936.9719494552528, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -695.239657412903, + -1935.4719494552528, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -692.6415812015496, + -1933.9719494552528, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -690.0435049901962, + -1932.4719494552528, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -687.4454287788428, + -1930.9719494552528, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -687.4454287788428, + -1930.9719494552528, + -204.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -687.4454287788428, + -1930.9719494552528, + -204.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -684.4454287788428, + -1930.9719494552528, + -204.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -681.4454287788428, + -1930.9719494552528, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -681.4454287788428, + -1930.9719494552528, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-11-14_837463/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-11-14_837463/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e9b2ddf716756f1d32ed8b5c35ce5198a48bd8f2 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-11-14_837463/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -787.7904181298142, + -1989.9079593327103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -785.1923419184609, + -1988.4079593327103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -782.5942657071075, + -1986.9079593327103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -779.9961894957542, + -1985.4079593327103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -777.3981132844008, + -1983.9079593327103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -774.8000370730474, + -1982.4079593327103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -772.201960861694, + -1980.9079593327103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -769.6038846503407, + -1979.4079593327103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -767.0058084389873, + -1977.9079593327103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -764.4077322276339, + -1976.4079593327103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -761.8096560162805, + -1974.9079593327103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -759.2115798049272, + -1973.4079593327103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -756.6135035935738, + -1971.9079593327103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -754.0154273822204, + -1970.4079593327103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -751.417351170867, + -1968.9079593327103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -748.8192749595137, + -1967.4079593327103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -746.2211987481603, + -1965.9079593327103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -743.6231225368069, + -1964.4079593327103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -741.0250463254536, + -1962.9079593327103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -738.4269701141002, + -1961.4079593327103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -735.8288939027468, + -1959.9079593327103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -733.2308176913934, + -1958.4079593327103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -730.6327414800401, + -1956.9079593327103, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -730.6327414800401, + -1956.9079593327103, + -204.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -728.0346652686867, + -1955.4079593327103, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -728.0346652686867, + -1955.4079593327103, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -725.4365890573333, + -1953.9079593327103, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -722.83851284598, + -1952.4079593327103, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -720.2404366346266, + -1950.9079593327103, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -717.6423604232732, + -1949.4079593327103, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -715.0442842119198, + -1947.9079593327103, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -712.4462080005665, + -1946.4079593327103, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -709.8481317892131, + -1944.9079593327103, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -707.2500555778597, + -1943.4079593327103, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -704.6519793665063, + -1941.9079593327103, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -702.053903155153, + -1940.4079593327103, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -699.4558269437996, + -1938.9079593327103, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -696.8577507324462, + -1937.4079593327103, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -694.2596745210928, + -1935.9079593327103, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -691.6615983097395, + -1934.4079593327103, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -689.0635220983861, + -1932.9079593327103, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -686.4654458870327, + -1931.4079593327103, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -683.8673696756794, + -1929.9079593327103, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -683.8673696756794, + -1929.9079593327103, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -683.8673696756794, + -1929.9079593327103, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -683.8673696756794, + -1929.9079593327103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -680.8673696756794, + -1929.9079593327103, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-41-56_817233/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-41-56_817233/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..42ad06bef5676eaba93dd393fa62cde4a35f2093 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-41-56_817233/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -790.072376035518, + -2001.7338072813345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -788.572376035518, + -1999.1357310699811, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -787.072376035518, + -1996.5376548586278, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -785.572376035518, + -1993.9395786472744, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -785.572376035518, + -1993.9395786472744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -782.9742998241647, + -1992.4395786472744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -780.3762236128114, + -1990.9395786472744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -777.778147401458, + -1989.4395786472744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -775.1800711901046, + -1987.9395786472744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -772.5819949787513, + -1986.4395786472744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -769.9839187673979, + -1984.9395786472744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -767.3858425560445, + -1983.4395786472744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -764.7877663446911, + -1981.9395786472744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -762.1896901333378, + -1980.4395786472744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -759.5916139219844, + -1978.9395786472744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -756.993537710631, + -1977.4395786472744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -754.3954614992776, + -1975.9395786472744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -751.7973852879243, + -1974.4395786472744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -749.1993090765709, + -1972.9395786472744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -746.6012328652175, + -1971.4395786472744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -744.0031566538642, + -1969.9395786472744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -741.4050804425108, + -1968.4395786472744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -738.8070042311574, + -1966.9395786472744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -736.208928019804, + -1965.4395786472744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -733.6108518084507, + -1963.9395786472744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -731.0127755970973, + -1962.4395786472744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -728.4146993857439, + -1960.9395786472744, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -728.4146993857439, + -1960.9395786472744, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -728.4146993857439, + -1960.9395786472744, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -725.8166231743905, + -1959.4395786472744, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -723.2185469630372, + -1957.9395786472744, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -720.6204707516838, + -1956.4395786472744, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -718.0223945403304, + -1954.9395786472744, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -715.424318328977, + -1953.4395786472744, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -712.8262421176237, + -1951.9395786472744, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -710.2281659062703, + -1950.4395786472744, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -707.6300896949169, + -1948.9395786472744, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -705.0320134835636, + -1947.4395786472744, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -702.4339372722102, + -1945.9395786472744, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -699.8358610608568, + -1944.4395786472744, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -697.2377848495034, + -1942.9395786472744, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -694.6397086381501, + -1941.4395786472744, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -692.0416324267967, + -1939.9395786472744, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -689.4435562154433, + -1938.4395786472744, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -686.84548000409, + -1936.9395786472744, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -684.2474037927366, + -1935.4395786472744, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -681.6493275813832, + -1933.9395786472744, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -681.6493275813832, + -1933.9395786472744, + -204.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -681.6493275813832, + -1933.9395786472744, + -204.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -680.1493275813832, + -1931.341502435921, + -204.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.047197551196588 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-48-42_32951/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-48-42_32951/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f174b89cead76f06f5e1cc924bfe1ffd8db2c21 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-48-42_32951/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -803.601196214799, + -1993.913457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -800.601196214799, + -1993.913457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -797.601196214799, + -1993.913457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -794.601196214799, + -1993.913457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -791.601196214799, + -1993.913457615324, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -791.601196214799, + -1993.913457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -789.0031200034457, + -1992.413457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -786.4050437920923, + -1990.913457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -783.806967580739, + -1989.413457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -781.2088913693856, + -1987.913457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -778.6108151580322, + -1986.413457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -776.0127389466788, + -1984.913457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -773.4146627353255, + -1983.413457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -770.8165865239721, + -1981.913457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -768.2185103126187, + -1980.413457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -765.6204341012653, + -1978.913457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -763.022357889912, + -1977.413457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -760.4242816785586, + -1975.913457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -757.8262054672052, + -1974.413457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -755.2281292558519, + -1972.913457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -752.6300530444985, + -1971.413457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -750.0319768331451, + -1969.913457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -747.4339006217917, + -1968.413457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -744.8358244104384, + -1966.913457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -742.237748199085, + -1965.413457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -739.6396719877316, + -1963.913457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -737.0415957763782, + -1962.413457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -734.4435195650249, + -1960.913457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -731.8454433536715, + -1959.413457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -729.2473671423181, + -1957.913457615324, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -729.2473671423181, + -1957.913457615324, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -729.2473671423181, + -1957.913457615324, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -726.6492909309648, + -1956.413457615324, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -724.0512147196114, + -1954.913457615324, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -721.453138508258, + -1953.413457615324, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -718.8550622969046, + -1951.913457615324, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -716.2569860855513, + -1950.413457615324, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -713.6589098741979, + -1948.913457615324, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -711.0608336628445, + -1947.413457615324, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -708.4627574514911, + -1945.913457615324, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -705.8646812401378, + -1944.413457615324, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -703.2666050287844, + -1942.913457615324, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -700.668528817431, + -1941.413457615324, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -698.0704526060777, + -1939.913457615324, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -695.4723763947243, + -1938.413457615324, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -692.8743001833709, + -1936.913457615324, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -690.2762239720175, + -1935.413457615324, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -687.6781477606642, + -1933.913457615324, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -685.0800715493108, + -1932.413457615324, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -682.4819953379574, + -1930.913457615324, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -682.4819953379574, + -1930.913457615324, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -682.4819953379574, + -1930.913457615324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -679.883919126604, + -1929.413457615324, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_01-00-10_648613/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_01-00-10_648613/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ecef7782ed0f4fe68d92348891ca671091d6ea60 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_01-00-10_648613/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -787.847232365718, + -1990.7577249615279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -785.2491561543648, + -1989.2577249615279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -782.6510799430114, + -1987.7577249615279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -780.053003731658, + -1986.2577249615279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -777.4549275203046, + -1984.7577249615279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -774.8568513089513, + -1983.2577249615279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -772.2587750975979, + -1981.7577249615279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -769.6606988862445, + -1980.2577249615279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -767.0626226748911, + -1978.7577249615279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -764.4645464635378, + -1977.2577249615279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -761.8664702521844, + -1975.7577249615279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -759.268394040831, + -1974.2577249615279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -756.6703178294777, + -1972.7577249615279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -754.0722416181243, + -1971.2577249615279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -751.4741654067709, + -1969.7577249615279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -748.8760891954175, + -1968.2577249615279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -746.2780129840642, + -1966.7577249615279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -743.6799367727108, + -1965.2577249615279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -741.0818605613574, + -1963.7577249615279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -738.483784350004, + -1962.2577249615279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -735.8857081386507, + -1960.7577249615279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -733.2876319272973, + -1959.2577249615279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -730.6895557159439, + -1957.7577249615279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -728.0914795045906, + -1956.2577249615279, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -728.0914795045906, + -1956.2577249615279, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -728.0914795045906, + -1956.2577249615279, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -725.4934032932372, + -1954.7577249615279, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -722.8953270818838, + -1953.2577249615279, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -720.2972508705304, + -1951.7577249615279, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -717.6991746591771, + -1950.2577249615279, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -715.1010984478237, + -1948.7577249615279, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -712.5030222364703, + -1947.2577249615279, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -709.9049460251169, + -1945.7577249615279, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -707.3068698137636, + -1944.2577249615279, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -704.7087936024102, + -1942.7577249615279, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -702.1107173910568, + -1941.2577249615279, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -699.5126411797035, + -1939.7577249615279, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -696.9145649683501, + -1938.2577249615279, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -694.3164887569967, + -1936.7577249615279, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -691.7184125456433, + -1935.2577249615279, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -689.12033633429, + -1933.7577249615279, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -686.5222601229366, + -1932.2577249615279, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -683.9241839115832, + -1930.7577249615279, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -683.9241839115832, + -1930.7577249615279, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -683.9241839115832, + -1930.7577249615279, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -683.9241839115832, + -1930.7577249615279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -680.9241839115832, + -1930.7577249615279, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-12-16_932026304/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-12-16_932026304/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..60efcbf735f94eddfe982d69ddb5a607d18e1b5f --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-12-16_932026304/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 22.81892861744152, + -1528.3285210760125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 24.31892861744152, + -1530.926597287366, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 25.81892861744152, + -1533.5246734987193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 27.31892861744152, + -1536.1227497100726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 28.81892861744152, + -1538.720825921426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 30.31892861744152, + -1541.3189021327794, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 31.81892861744152, + -1543.9169783441328, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 33.31892861744152, + -1546.5150545554861, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 34.81892861744152, + -1549.1131307668395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 36.31892861744152, + -1551.7112069781929, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 37.81892861744152, + -1554.3092831895462, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 39.31892861744152, + -1556.9073594008996, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 40.81892861744152, + -1559.505435612253, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 40.81892861744152, + -1559.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 40.81892861744152, + -1562.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 40.81892861744152, + -1565.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 40.81892861744152, + -1568.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 40.81892861744152, + -1571.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 40.81892861744152, + -1574.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 40.81892861744152, + -1577.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 40.81892861744152, + -1580.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 40.81892861744152, + -1583.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 40.81892861744152, + -1586.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 40.81892861744152, + -1589.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 40.81892861744152, + -1592.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 40.81892861744152, + -1595.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 40.81892861744152, + -1598.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 40.81892861744152, + -1601.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 40.81892861744152, + -1604.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 40.81892861744152, + -1607.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 40.81892861744152, + -1610.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 40.81892861744152, + -1613.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 40.81892861744152, + -1616.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 40.81892861744152, + -1619.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 40.81892861744152, + -1622.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 40.81892861744152, + -1625.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 40.81892861744152, + -1628.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 40.81892861744152, + -1631.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 40.81892861744152, + -1634.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 40.81892861744152, + -1637.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 40.81892861744152, + -1640.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 40.81892861744152, + -1643.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 40.81892861744152, + -1646.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 40.81892861744152, + -1649.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 40.81892861744152, + -1652.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 40.81892861744152, + -1655.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 40.81892861744152, + -1658.505435612253, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 40.81892861744152, + -1658.505435612253, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 40.81892861744152, + -1658.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 43.41700482879484, + -1660.005435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 46.015081040148154, + -1661.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 48.61315725150147, + -1663.005435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 51.211233462854786, + -1664.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 53.8093096742081, + -1666.005435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 56.40738588556142, + -1667.505435612253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 59.005462096914734, + -1669.005435612253, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-13-17_828388027/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-13-17_828388027/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06164138e34307b2fbc5c4c4193636ec979c20bc --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-13-17_828388027/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -829.735250944696, + -1774.0314853923737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -827.1371747333426, + -1775.5314853923737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -824.5390985219892, + -1777.0314853923737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -821.9410223106358, + -1778.5314853923737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -819.3429460992825, + -1780.0314853923737, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -819.3429460992825, + -1780.0314853923737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -817.8429460992825, + -1782.629561603727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -816.3429460992825, + -1785.2276378150805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -814.8429460992825, + -1787.8257140264338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -813.3429460992825, + -1790.4237902377872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -811.8429460992825, + -1793.0218664491406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -810.3429460992825, + -1795.619942660494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -808.8429460992825, + -1798.2180188718473, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -807.3429460992825, + -1800.8160950832007, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -805.8429460992825, + -1803.414171294554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -804.3429460992825, + -1806.0122475059075, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -802.8429460992825, + -1808.6103237172608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -801.3429460992825, + -1811.2083999286142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -799.8429460992825, + -1813.8064761399676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -798.3429460992825, + -1816.404552351321, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -796.8429460992825, + -1819.0026285626743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -795.3429460992825, + -1821.6007047740277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -793.8429460992825, + -1824.198780985381, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -792.3429460992825, + -1826.7968571967344, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -790.8429460992825, + -1829.3949334080878, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -789.3429460992825, + -1831.9930096194412, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -787.8429460992825, + -1834.5910858307946, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -786.3429460992825, + -1837.189162042148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -784.8429460992825, + -1839.7872382535013, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -784.8429460992825, + -1839.7872382535013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -782.2448698879291, + -1841.2872382535013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -779.6467936765757, + -1842.7872382535013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -777.0487174652224, + -1844.2872382535013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -774.450641253869, + -1845.7872382535013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -771.8525650425156, + -1847.2872382535013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -769.2544888311622, + -1848.7872382535013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -766.6564126198089, + -1850.2872382535013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -764.0583364084555, + -1851.7872382535013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -761.4602601971021, + -1853.2872382535013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -758.8621839857487, + -1854.7872382535013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -756.2641077743954, + -1856.2872382535013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -753.666031563042, + -1857.7872382535013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -751.0679553516886, + -1859.2872382535013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -748.4698791403353, + -1860.7872382535013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -745.8718029289819, + -1862.2872382535013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -743.2737267176285, + -1863.7872382535013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -740.6756505062751, + -1865.2872382535013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -738.0775742949218, + -1866.7872382535013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -735.4794980835684, + -1868.2872382535013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -732.881421872215, + -1869.7872382535013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -730.2833456608616, + -1871.2872382535013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -727.6852694495083, + -1872.7872382535013, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-15-42_816504794/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-15-42_816504794/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ebcd5cc394b0817788647b0e5023bbb646aac390 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-15-42_816504794/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -827.2677124658024, + -1785.6793186283194, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -824.6696362544492, + -1787.1793186283194, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -824.6696362544492, + -1787.1793186283194, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -823.1696362544492, + -1789.7773948396728, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -821.6696362544492, + -1792.3754710510261, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -820.1696362544492, + -1794.9735472623795, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -818.6696362544492, + -1797.5716234737329, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -817.1696362544492, + -1800.1696996850862, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -815.6696362544492, + -1802.7677758964396, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -814.1696362544492, + -1805.365852107793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -812.6696362544492, + -1807.9639283191464, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -811.1696362544492, + -1810.5620045304997, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -809.6696362544492, + -1813.160080741853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -808.1696362544492, + -1815.7581569532065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -806.6696362544492, + -1818.3562331645599, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -806.6696362544492, + -1818.3562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -804.0715600430958, + -1819.8562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -801.4734838317424, + -1821.3562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -798.8754076203891, + -1822.8562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -796.2773314090357, + -1824.3562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -793.6792551976823, + -1825.8562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -791.081178986329, + -1827.3562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -788.4831027749756, + -1828.8562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -785.8850265636222, + -1830.3562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -783.2869503522688, + -1831.8562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -780.6888741409155, + -1833.3562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -778.0907979295621, + -1834.8562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -775.4927217182087, + -1836.3562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -772.8946455068553, + -1837.8562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -770.296569295502, + -1839.3562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -767.6984930841486, + -1840.8562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -765.1004168727952, + -1842.3562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -762.5023406614418, + -1843.8562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -759.9042644500885, + -1845.3562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -757.3061882387351, + -1846.8562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -754.7081120273817, + -1848.3562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -752.1100358160284, + -1849.8562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -749.511959604675, + -1851.3562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -746.9138833933216, + -1852.8562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -744.3158071819682, + -1854.3562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -741.7177309706149, + -1855.8562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -739.1196547592615, + -1857.3562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -736.5215785479081, + -1858.8562331645599, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -736.5215785479081, + -1858.8562331645599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -735.0215785479081, + -1861.4543093759132, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -733.5215785479081, + -1864.0523855872666, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -732.0215785479081, + -1866.65046179862, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -730.5215785479081, + -1869.2485380099733, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -729.0215785479081, + -1871.8466142213267, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -727.5215785479081, + -1874.44469043268, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-25-11_860516127/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-25-11_860516127/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a76b72aa6d63e742a769f8e2ac1bde77a63d2a85 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-25-11_860516127/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -62.309524830618685, + -1461.0951036359832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -64.907601041972, + -1462.5951036359832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -67.50567725332532, + -1464.0951036359832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -70.10375346467863, + -1465.5951036359832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -72.70182967603195, + -1467.0951036359832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -75.29990588738526, + -1468.5951036359832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -77.89798209873858, + -1470.0951036359832, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -77.89798209873858, + -1470.0951036359832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -79.39798209873858, + -1472.6931798473365, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -80.89798209873858, + -1475.29125605869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -82.39798209873858, + -1477.8893322700433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -83.89798209873858, + -1480.4874084813966, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -85.39798209873858, + -1483.08548469275, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -86.89798209873858, + -1485.6835609041034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -88.39798209873858, + -1488.2816371154568, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -89.89798209873858, + -1490.8797133268101, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -91.39798209873858, + -1493.4777895381635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -92.89798209873858, + -1496.0758657495169, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -94.39798209873858, + -1498.6739419608703, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -95.89798209873858, + -1501.2720181722236, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -97.39798209873858, + -1503.870094383577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -98.89798209873858, + -1506.4681705949304, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -98.89798209873858, + -1506.4681705949304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -101.4960583100919, + -1507.9681705949304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -104.09413452144521, + -1509.4681705949304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -106.69221073279853, + -1510.9681705949304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -109.29028694415184, + -1512.4681705949304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -111.88836315550516, + -1513.9681705949304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -114.48643936685848, + -1515.4681705949304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -117.08451557821179, + -1516.9681705949304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -119.68259178956511, + -1518.4681705949304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -122.28066800091842, + -1519.9681705949304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -124.87874421227174, + -1521.4681705949304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -127.47682042362506, + -1522.9681705949304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -130.07489663497836, + -1524.4681705949304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991492 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -132.67297284633167, + -1525.9681705949304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -135.271049057685, + -1527.4681705949304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -137.8691252690383, + -1528.9681705949304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -140.46720148039162, + -1530.4681705949304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -143.06527769174494, + -1531.9681705949304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -145.66335390309825, + -1533.4681705949304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -148.26143011445157, + -1534.9681705949304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -150.8595063258049, + -1536.4681705949304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -153.4575825371582, + -1537.9681705949304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -156.05565874851152, + -1539.4681705949304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -158.65373495986483, + -1540.9681705949304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -161.25181117121815, + -1542.4681705949304, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-27-6_1455590964/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-27-6_1455590964/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..30f2f17bb19803266da93db8755ce29c5e3af3ed --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-27-6_1455590964/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 422.14528041308506, + -1342.1723534136077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 425.14528041308506, + -1342.1723534136077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 428.14528041308506, + -1342.1723534136077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 431.14528041308506, + -1342.1723534136077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 434.14528041308506, + -1342.1723534136077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 437.14528041308506, + -1342.1723534136077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 440.14528041308506, + -1342.1723534136077, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 440.14528041308506, + -1342.1723534136077, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 440.14528041308506, + -1342.1723534136077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 441.64528041308506, + -1339.5742772022543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 443.14528041308506, + -1336.976200990901, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 444.64528041308506, + -1334.3781247795475, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 446.14528041308506, + -1331.7800485681942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 447.64528041308506, + -1329.1819723568408, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 449.14528041308506, + -1326.5838961454874, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 450.64528041308506, + -1323.985819934134, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 452.14528041308506, + -1321.3877437227807, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 453.64528041308506, + -1318.7896675114273, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 455.14528041308506, + -1316.191591300074, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 456.64528041308506, + -1313.5935150887206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 458.14528041308506, + -1310.9954388773672, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 459.64528041308506, + -1308.3973626660138, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 461.14528041308506, + -1305.7992864546604, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 462.64528041308506, + -1303.201210243307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 464.14528041308506, + -1300.6031340319537, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 465.64528041308506, + -1298.0050578206003, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 467.14528041308506, + -1295.406981609247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 468.64528041308506, + -1292.8089053978936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 470.14528041308506, + -1290.2108291865402, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 471.64528041308506, + -1287.6127529751868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 473.14528041308506, + -1285.0146767638334, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 474.64528041308506, + -1282.41660055248, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 476.14528041308506, + -1279.8185243411267, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 477.64528041308506, + -1277.2204481297733, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 479.14528041308506, + -1274.62237191842, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 480.64528041308506, + -1272.0242957070666, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 482.14528041308506, + -1269.4262194957132, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 483.64528041308506, + -1266.8281432843598, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 485.14528041308506, + -1264.2300670730065, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 485.14528041308506, + -1264.2300670730065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 487.7433566244384, + -1262.7300670730065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 490.3414328357917, + -1261.2300670730065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 492.939509047145, + -1259.7300670730065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 495.5375852584983, + -1258.2300670730065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 498.13566146985164, + -1256.7300670730065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 500.73373768120496, + -1255.2300670730065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 503.3318138925583, + -1253.7300670730065, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 503.3318138925583, + -1253.7300670730065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 504.8318138925583, + -1251.131990861653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 506.3318138925583, + -1248.5339146502997, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-28-31_136495343/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-28-31_136495343/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..040c4e8428fcbcd8a7bfedb1ef365fdecb88e672 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-28-31_136495343/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -784.1118826964599, + -2039.706991264225, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -782.6118826964599, + -2037.1089150528717, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -781.1118826964599, + -2034.5108388415183, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -779.6118826964599, + -2031.912762630165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -778.1118826964599, + -2029.3146864188116, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -776.6118826964599, + -2026.7166102074582, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -775.1118826964599, + -2024.1185339961048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -773.6118826964599, + -2021.5204577847514, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -773.6118826964599, + -2021.5204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -771.0138064851067, + -2020.0204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -768.4157302737533, + -2018.5204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -765.8176540623999, + -2017.0204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -763.2195778510466, + -2015.5204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -760.6215016396932, + -2014.0204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -758.0234254283398, + -2012.5204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -755.4253492169864, + -2011.0204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -752.8272730056331, + -2009.5204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -750.2291967942797, + -2008.0204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -747.6311205829263, + -2006.5204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -745.0330443715729, + -2005.0204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -742.4349681602196, + -2003.5204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -739.8368919488662, + -2002.0204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -737.2388157375128, + -2000.5204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -734.6407395261595, + -1999.0204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -732.0426633148061, + -1997.5204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -729.4445871034527, + -1996.0204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -726.8465108920993, + -1994.5204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -724.248434680746, + -1993.0204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -721.6503584693926, + -1991.5204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -719.0522822580392, + -1990.0204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -716.4542060466858, + -1988.5204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -713.8561298353325, + -1987.0204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -711.2580536239791, + -1985.5204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -708.6599774126257, + -1984.0204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -706.0619012012723, + -1982.5204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -703.463824989919, + -1981.0204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -700.8657487785656, + -1979.5204577847514, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -700.8657487785656, + -1979.5204577847514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -699.3657487785656, + -1976.922381573398, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -697.8657487785656, + -1974.3243053620447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -696.3657487785656, + -1971.7262291506913, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -694.8657487785656, + -1969.128152939338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -693.3657487785656, + -1966.5300767279846, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -691.8657487785656, + -1963.9320005166312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -690.3657487785656, + -1961.3339243052778, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -688.8657487785656, + -1958.7358480939245, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -687.3657487785656, + -1956.137771882571, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -685.8657487785656, + -1953.5396956712177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -684.3657487785656, + -1950.9416194598643, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -682.8657487785656, + -1948.343543248511, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -681.3657487785656, + -1945.7454670371576, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -679.8657487785656, + -1943.1473908258042, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -678.3657487785656, + -1940.5493146144509, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-36-0_1887658390/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-36-0_1887658390/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6d8c00949f4c233154fa4313589a2b2a439f9e40 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-36-0_1887658390/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 399.45044485367015, + -1318.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 396.85236864231683, + -1317.455839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 394.2542924309635, + -1315.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 391.6562162196102, + -1314.455839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 389.0581400082569, + -1312.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 386.46006379690357, + -1311.455839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 383.86198758555025, + -1309.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 381.26391137419694, + -1308.455839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 378.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 378.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 375.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 372.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 369.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 366.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 363.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 360.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 357.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 354.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 351.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 348.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 345.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 342.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 339.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 336.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 333.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 330.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 327.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 324.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 321.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 318.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 315.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 312.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 309.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 306.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 303.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 300.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 297.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 294.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 291.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 291.6658351628436, + -1306.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 289.0677589514903, + -1308.455839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 286.469682740137, + -1309.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 283.8716065287837, + -1311.455839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 281.27353031743036, + -1312.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 278.67545410607704, + -1314.455839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 276.0773778947237, + -1315.955839800281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 273.4793016833704, + -1317.455839800281, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-40-25_1941690360/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-40-25_1941690360/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b9389bf6788c4be10b97411fdefae404c525a717 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-40-25_1941690360/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -94.56167732242162, + -1401.446155274801, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -96.06167732242162, + -1404.0442314861543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -97.56167732242162, + -1406.6423076975077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -99.06167732242162, + -1409.240383908861, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -100.56167732242162, + -1411.8384601202144, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -102.06167732242162, + -1414.4365363315678, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -103.56167732242162, + -1417.0346125429212, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -105.06167732242162, + -1419.6326887542746, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -106.56167732242162, + -1422.230764965628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -108.06167732242162, + -1424.8288411769813, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -109.56167732242162, + -1427.4269173883347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -111.06167732242162, + -1430.024993599688, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -112.56167732242162, + -1432.6230698110414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -114.06167732242162, + -1435.2211460223948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -115.56167732242162, + -1437.8192222337482, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -117.06167732242162, + -1440.4172984451016, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -118.56167732242162, + -1443.015374656455, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -120.06167732242162, + -1445.6134508678083, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -121.56167732242162, + -1448.2115270791617, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -123.06167732242162, + -1450.809603290515, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -123.06167732242162, + -1450.809603290515, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -125.65975353377493, + -1452.309603290515, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -128.25782974512825, + -1453.809603290515, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -130.85590595648156, + -1455.309603290515, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -133.45398216783488, + -1456.809603290515, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -136.0520583791882, + -1458.309603290515, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -138.6501345905415, + -1459.809603290515, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -138.6501345905415, + -1459.809603290515, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -140.1501345905415, + -1462.4076795018684, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -141.6501345905415, + -1465.0057557132218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -143.1501345905415, + -1467.6038319245752, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -144.6501345905415, + -1470.2019081359285, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -146.1501345905415, + -1472.799984347282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -147.6501345905415, + -1475.3980605586353, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -149.1501345905415, + -1477.9961367699887, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -150.6501345905415, + -1480.594212981342, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -152.1501345905415, + -1483.1922891926954, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -153.6501345905415, + -1485.7903654040488, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -155.1501345905415, + -1488.3884416154021, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -156.6501345905415, + -1490.9865178267555, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -158.1501345905415, + -1493.584594038109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -159.6501345905415, + -1496.1826702494623, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -161.1501345905415, + -1498.7807464608156, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -161.1501345905415, + -1498.7807464608156, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -161.1501345905415, + -1501.7807464608156, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -161.1501345905415, + -1504.7807464608156, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -161.1501345905415, + -1507.7807464608156, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -161.1501345905415, + -1510.7807464608156, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -161.1501345905415, + -1513.7807464608156, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -161.1501345905415, + -1516.7807464608156, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -161.1501345905415, + -1519.7807464608156, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -161.1501345905415, + -1522.7807464608156, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -161.1501345905415, + -1525.7807464608156, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-41-25_847228023/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-41-25_847228023/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c6f488a04768586aea9ee4f033cb0d067b86fd29 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-41-25_847228023/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 370.2081957640946, + -1455.4430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 367.6101195527413, + -1456.9430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 365.012043341388, + -1458.4430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 362.4139671300347, + -1459.9430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 359.81589091868136, + -1461.4430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 357.21781470732805, + -1462.9430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 354.61973849597473, + -1464.4430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 352.0216622846214, + -1465.9430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 349.4235860732681, + -1467.4430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 346.8255098619148, + -1468.9430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 344.22743365056147, + -1470.4430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 341.62935743920815, + -1471.9430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 339.03128122785483, + -1473.4430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 336.4332050165015, + -1474.9430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 333.8351288051482, + -1476.4430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 331.2370525937949, + -1477.9430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 328.63897638244157, + -1479.4430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 326.04090017108825, + -1480.9430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 323.44282395973494, + -1482.4430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 320.8447477483816, + -1483.9430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 318.2466715370283, + -1485.4430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 315.648595325675, + -1486.9430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 313.0505191143217, + -1488.4430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 310.45244290296836, + -1489.9430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 307.85436669161504, + -1491.4430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 305.2562904802617, + -1492.9430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 302.6582142689084, + -1494.4430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 300.0601380575551, + -1495.9430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 297.4620618462018, + -1497.4430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 294.86398563484846, + -1498.9430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 292.26590942349515, + -1500.4430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 289.66783321214183, + -1501.9430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 287.0697570007885, + -1503.4430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 284.4716807894352, + -1504.9430585677985, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 284.4716807894352, + -1504.9430585677985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 282.9716807894352, + -1507.541134779152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 281.4716807894352, + -1510.1392109905053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 279.9716807894352, + -1512.7372872018586, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 278.4716807894352, + -1515.335363413212, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 276.9716807894352, + -1517.9334396245654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 275.4716807894352, + -1520.5315158359188, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 273.9716807894352, + -1523.1295920472721, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 272.4716807894352, + -1525.7276682586255, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 270.9716807894352, + -1528.3257444699789, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 269.4716807894352, + -1530.9238206813322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 267.9716807894352, + -1533.5218968926856, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 266.4716807894352, + -1536.119973104039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 264.9716807894352, + -1538.7180493153924, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 263.4716807894352, + -1541.3161255267457, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1560.0, + -206.55 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-5-13_1671294892/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-5-13_1671294892/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..432f8d30737268be4a705e30d9aaf073d0fa5843 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-5-13_1671294892/pose.jsonl @@ -0,0 +1,860 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 413.78978092743375, + -1328.3435376646348, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 411.19170471608044, + -1329.8435376646348, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 408.5936285047271, + -1331.3435376646348, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 405.9955522933738, + -1332.8435376646348, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 403.3974760820205, + -1334.3435376646348, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 400.7993998706672, + -1335.8435376646348, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 398.20132365931386, + -1337.3435376646348, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 395.60324744796054, + -1338.8435376646348, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 393.0051712366072, + -1340.3435376646348, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 390.4070950252539, + -1341.8435376646348, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 387.8090188139006, + -1343.3435376646348, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 385.2109426025473, + -1344.8435376646348, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 382.61286639119396, + -1346.3435376646348, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 380.01479017984065, + -1347.8435376646348, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 377.41671396848733, + -1349.3435376646348, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 374.818637757134, + -1350.8435376646348, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 372.2205615457807, + -1352.3435376646348, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 369.6224853344274, + -1353.8435376646348, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 367.02440912307407, + -1355.3435376646348, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 364.42633291172075, + -1356.8435376646348, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 364.42633291172075, + -1356.8435376646348, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 362.92633291172075, + -1359.4416138759882, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 361.42633291172075, + -1362.0396900873416, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 359.92633291172075, + -1364.637766298695, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 358.42633291172075, + -1367.2358425100483, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 356.92633291172075, + -1369.8339187214017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 355.42633291172075, + -1372.431994932755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 353.92633291172075, + -1375.0300711441084, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 353.92633291172075, + -1375.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 353.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 353.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 353.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 353.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 350.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 347.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 344.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 341.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 338.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 335.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 332.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 329.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 326.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 323.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 320.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 317.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 314.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 311.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 308.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 305.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 302.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 299.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 296.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 293.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 290.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 287.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 284.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 284.92633291172075, + -1378.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 282.32825670036743, + -1376.5300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 279.7301804890141, + -1375.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 277.1321042776608, + -1373.5300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 274.5340280663075, + -1372.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 271.93595185495417, + -1370.5300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 269.33787564360085, + -1369.0300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 266.73979943224754, + -1367.5300711441084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 264.1417232208942, + -1366.0300711441084, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-55-48_1010528946/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-55-48_1010528946/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5c9ed7dea2cdef1254bf16644a03a2dea6c796d1 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-55-48_1010528946/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 372.68480103245486, + -1459.0782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 370.08672482110154, + -1460.5782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 367.4886486097482, + -1462.0782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 364.8905723983949, + -1463.5782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 362.2924961870416, + -1465.0782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 359.6944199756883, + -1466.5782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 357.09634376433496, + -1468.0782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 354.49826755298164, + -1469.5782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 351.90019134162833, + -1471.0782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 349.302115130275, + -1472.5782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 346.7040389189217, + -1474.0782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 344.1059627075684, + -1475.5782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 341.50788649621506, + -1477.0782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 338.90981028486175, + -1478.5782916803219, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 338.90981028486175, + -1478.5782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 335.90981028486175, + -1478.5782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 332.90981028486175, + -1478.5782916803219, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 332.90981028486175, + -1478.5782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 330.31173407350843, + -1480.0782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 327.7136578621551, + -1481.5782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 325.1155816508018, + -1483.0782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 322.5175054394485, + -1484.5782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 319.91942922809517, + -1486.0782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 317.32135301674185, + -1487.5782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 314.72327680538854, + -1489.0782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 312.1252005940352, + -1490.5782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 309.5271243826819, + -1492.0782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 306.9290481713286, + -1493.5782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 304.3309719599753, + -1495.0782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 301.73289574862196, + -1496.5782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 299.13481953726864, + -1498.0782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 296.5367433259153, + -1499.5782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 293.938667114562, + -1501.0782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 291.3405909032087, + -1502.5782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 288.7425146918554, + -1504.0782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 286.14443848050206, + -1505.5782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 283.54636226914874, + -1507.0782916803219, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 283.54636226914874, + -1507.0782916803219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 282.04636226914874, + -1509.6763678916752, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 280.54636226914874, + -1512.2744441030286, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 279.04636226914874, + -1514.872520314382, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 277.54636226914874, + -1517.4705965257353, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 276.04636226914874, + -1520.0686727370887, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 274.54636226914874, + -1522.666748948442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 273.04636226914874, + -1525.2648251597955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 271.54636226914874, + -1527.8629013711488, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 270.04636226914874, + -1530.4609775825022, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 268.54636226914874, + -1533.0590537938556, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 267.04636226914874, + -1535.657130005209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 265.54636226914874, + -1538.2552062165623, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 264.04636226914874, + -1540.8532824279157, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1560.0, + -206.55 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-59-20_1314218593/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-59-20_1314218593/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6d8c0e0c771ff36d4552ae99ae6bd6c2bc9a06d6 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-59-20_1314218593/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -109.60879434534061, + -1415.8771882887781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -111.10879434534061, + -1418.4752645001315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -112.60879434534061, + -1421.073340711485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -114.10879434534061, + -1423.6714169228383, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -115.60879434534061, + -1426.2694931341916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -117.10879434534061, + -1428.867569345545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -118.60879434534061, + -1431.4656455568984, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -120.10879434534061, + -1434.0637217682518, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -121.60879434534061, + -1436.6617979796051, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -123.10879434534061, + -1439.2598741909585, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -124.60879434534061, + -1441.8579504023119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -126.10879434534061, + -1444.4560266136652, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -127.60879434534061, + -1447.0541028250186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -129.1087943453406, + -1449.652179036372, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -130.6087943453406, + -1452.2502552477254, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -132.1087943453406, + -1454.8483314590787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -133.6087943453406, + -1457.446407670432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -135.1087943453406, + -1460.0444838817855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -136.6087943453406, + -1462.6425600931389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -138.1087943453406, + -1465.2406363044922, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -139.6087943453406, + -1467.8387125158456, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -141.1087943453406, + -1470.436788727199, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -141.1087943453406, + -1470.436788727199, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -141.1087943453406, + -1470.436788727199, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897833 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -144.1087943453406, + -1470.436788727199, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -144.1087943453406, + -1470.436788727199, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -144.1087943453406, + -1470.436788727199, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -145.6087943453406, + -1473.0348649385523, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -147.1087943453406, + -1475.6329411499057, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -148.6087943453406, + -1478.231017361259, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -150.1087943453406, + -1480.8290935726125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -151.6087943453406, + -1483.4271697839658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -153.1087943453406, + -1486.0252459953192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -154.6087943453406, + -1488.6233222066726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -156.1087943453406, + -1491.221398418026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -157.6087943453406, + -1493.8194746293793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -159.1087943453406, + -1496.4175508407327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -160.6087943453406, + -1499.015627052086, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -162.1087943453406, + -1501.6137032634394, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -162.1087943453406, + -1501.6137032634394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -162.1087943453406, + -1504.6137032634394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -162.1087943453406, + -1507.6137032634394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -162.1087943453406, + -1510.6137032634394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -162.1087943453406, + -1513.6137032634394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -162.1087943453406, + -1516.6137032634394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -162.1087943453406, + -1519.6137032634394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -162.1087943453406, + -1522.6137032634394, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-6-48_661761152/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-6-48_661761152/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1f32c2511fcd2eec1a7a32d42a947020c88a5497 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-6-48_661761152/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 376.3550614178754, + -1449.7519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 373.7569852065221, + -1451.2519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 371.15890899516876, + -1452.7519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 368.56083278381544, + -1454.2519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 365.9627565724621, + -1455.7519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 363.3646803611088, + -1457.2519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 360.7666041497555, + -1458.7519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 358.1685279384022, + -1460.2519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 355.57045172704886, + -1461.7519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 352.97237551569555, + -1463.2519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 350.37429930434223, + -1464.7519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 347.7762230929889, + -1466.2519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 345.1781468816356, + -1467.7519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 342.5800706702823, + -1469.2519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 339.98199445892897, + -1470.7519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 337.38391824757565, + -1472.2519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 334.78584203622233, + -1473.7519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 332.187765824869, + -1475.2519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 329.5896896135157, + -1476.7519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 326.9916134021624, + -1478.2519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 324.39353719080907, + -1479.7519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 321.79546097945575, + -1481.2519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 319.19738476810244, + -1482.7519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 316.5993085567491, + -1484.2519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 314.0012323453958, + -1485.7519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 311.4031561340425, + -1487.2519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 308.8050799226892, + -1488.7519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 306.20700371133586, + -1490.2519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 303.60892749998254, + -1491.7519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 301.0108512886292, + -1493.2519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 298.4127750772759, + -1494.7519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 295.8146988659226, + -1496.2519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 293.2166226545693, + -1497.7519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 290.61854644321596, + -1499.2519733880065, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 290.61854644321596, + -1499.2519733880065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 289.11854644321596, + -1501.8500495993599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 287.61854644321596, + -1504.4481258107132, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 286.11854644321596, + -1507.0462020220666, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 284.61854644321596, + -1509.64427823342, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 283.11854644321596, + -1512.2423544447734, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 281.61854644321596, + -1514.8404306561267, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 280.11854644321596, + -1517.43850686748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 278.61854644321596, + -1520.0365830788335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 277.11854644321596, + -1522.6346592901868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 275.61854644321596, + -1525.2327355015402, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 274.11854644321596, + -1527.8308117128936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 272.61854644321596, + -1530.428887924247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 271.11854644321596, + -1533.0269641356003, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 269.61854644321596, + -1535.6250403469537, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 268.11854644321596, + -1538.223116558307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 266.61854644321596, + -1540.8211927696605, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 266.61854644321596, + -1540.8211927696605, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 264.02047023186265, + -1542.3211927696605, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914846 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1560.0, + -206.55 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-13-31_959372260/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-13-31_959372260/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb00c4688f2edc918f2461f7f10f34f2531cb6a3 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-13-31_959372260/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -775.7407605931014, + -2033.5807023184677, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -774.2407605931014, + -2030.9826261071144, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -772.7407605931014, + -2028.384549895761, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -771.2407605931014, + -2025.7864736844076, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -769.7407605931014, + -2023.1883974730542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -768.2407605931014, + -2020.5903212617009, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -766.7407605931014, + -2017.9922450503475, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -765.2407605931014, + -2015.3941688389941, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -763.7407605931014, + -2012.7960926276407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -762.2407605931014, + -2010.1980164162874, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -760.7407605931014, + -2007.599940204934, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -759.2407605931014, + -2005.0018639935806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -757.7407605931014, + -2002.4037877822273, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -756.2407605931014, + -1999.8057115708739, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -754.7407605931014, + -1997.2076353595205, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -753.2407605931014, + -1994.6095591481671, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -751.7407605931014, + -1992.0114829368138, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -750.2407605931014, + -1989.4134067254604, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -748.7407605931014, + -1986.815330514107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -747.2407605931014, + -1984.2172543027536, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -745.7407605931014, + -1981.6191780914003, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -744.2407605931014, + -1979.021101880047, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -742.7407605931014, + -1976.4230256686935, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -741.2407605931014, + -1973.8249494573402, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -739.7407605931014, + -1971.2268732459868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -738.2407605931014, + -1968.6287970346334, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -736.7407605931014, + -1966.03072082328, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -735.2407605931014, + -1963.4326446119267, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -733.7407605931014, + -1960.8345684005733, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -732.2407605931014, + -1958.23649218922, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -730.7407605931014, + -1955.6384159778665, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -729.2407605931014, + -1953.0403397665132, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -729.2407605931014, + -1953.0403397665132, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -729.2407605931014, + -1950.0403397665132, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -729.2407605931014, + -1947.0403397665132, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -729.2407605931014, + -1944.0403397665132, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -729.2407605931014, + -1941.0403397665132, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -729.2407605931014, + -1938.0403397665132, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -729.2407605931014, + -1935.0403397665132, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -729.2407605931014, + -1932.0403397665132, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -729.2407605931014, + -1929.0403397665132, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -729.2407605931014, + -1926.0403397665132, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -729.2407605931014, + -1926.0403397665132, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -729.2407605931014, + -1926.0403397665132, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -726.642684381748, + -1924.5403397665132, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -724.0446081703947, + -1923.0403397665132, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -721.4465319590413, + -1921.5403397665132, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -718.8484557476879, + -1920.0403397665132, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-14-26_2137100237/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-14-26_2137100237/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d675f4a6b8d88df615361cd4ec6b672ae2df1a85 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-14-26_2137100237/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -69.00514867902366, + -1423.9875420142023, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -70.50514867902366, + -1426.5856182255557, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -72.00514867902366, + -1429.183694436909, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -73.50514867902366, + -1431.7817706482624, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -75.00514867902366, + -1434.3798468596158, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -76.50514867902366, + -1436.9779230709692, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -78.00514867902366, + -1439.5759992823225, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -79.50514867902366, + -1442.174075493676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -81.00514867902366, + -1444.7721517050293, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -82.50514867902366, + -1447.3702279163826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -84.00514867902366, + -1449.968304127736, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -85.50514867902366, + -1452.5663803390894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -87.00514867902366, + -1455.1644565504428, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -88.50514867902366, + -1457.7625327617961, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -90.00514867902366, + -1460.3606089731495, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -91.50514867902366, + -1462.9586851845029, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -93.00514867902366, + -1465.5567613958563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -94.50514867902366, + -1468.1548376072096, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -96.00514867902366, + -1470.752913818563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -97.50514867902366, + -1473.3509900299164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -99.00514867902366, + -1475.9490662412697, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -100.50514867902366, + -1478.5471424526231, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -100.50514867902366, + -1478.5471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -100.50514867902366, + -1481.5471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -100.50514867902366, + -1484.5471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -100.50514867902366, + -1487.5471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -100.50514867902366, + -1490.5471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -100.50514867902366, + -1493.5471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -100.50514867902366, + -1496.5471424526231, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -100.50514867902366, + -1496.5471424526231, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -100.50514867902366, + -1496.5471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -103.10322489037698, + -1498.0471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -105.7013011017303, + -1499.5471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -108.29937731308361, + -1501.0471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -110.89745352443693, + -1502.5471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -113.49552973579024, + -1504.0471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -116.09360594714356, + -1505.5471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -118.69168215849687, + -1507.0471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -121.28975836985019, + -1508.5471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -123.8878345812035, + -1510.0471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -126.48591079255682, + -1511.5471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -129.08398700391012, + -1513.0471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991492 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -131.68206321526344, + -1514.5471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -134.28013942661676, + -1516.0471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -136.87821563797007, + -1517.5471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -139.4762918493234, + -1519.0471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -142.0743680606767, + -1520.5471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -144.67244427203002, + -1522.0471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -147.27052048338334, + -1523.5471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -149.86859669473665, + -1525.0471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -152.46667290608997, + -1526.5471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -155.06474911744328, + -1528.0471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -157.6628253287966, + -1529.5471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -160.26090154014992, + -1531.0471424526231, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -160.26090154014992, + -1531.0471424526231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -161.76090154014992, + -1533.6452186639765, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-15-51_1376035217/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-15-51_1376035217/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d526ba23c75f186fd78350dc4b7d8ede9ccf56f0 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-15-51_1376035217/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 401.92952022779184, + -1388.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 399.3314440164385, + -1386.5620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 396.7333678050852, + -1385.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 394.1352915937319, + -1383.5620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 391.5372153823786, + -1382.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 388.93913917102526, + -1380.5620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 386.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 386.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 383.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 380.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 377.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 374.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 371.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 368.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 365.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 362.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 359.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 356.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 353.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 350.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 347.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 344.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 341.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 338.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 335.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 332.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 329.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 326.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 323.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 320.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 317.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 314.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 311.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 311.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 311.34106295967194, + -1379.0620410286108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 309.84106295967194, + -1376.4639648172574, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 308.34106295967194, + -1373.865888605904, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 306.84106295967194, + -1371.2678123945507, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 305.34106295967194, + -1368.6697361831973, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 303.84106295967194, + -1366.071659971844, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 302.34106295967194, + -1363.4735837604906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 300.84106295967194, + -1360.8755075491372, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 299.34106295967194, + -1358.2774313377838, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 297.84106295967194, + -1355.6793551264304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 296.34106295967194, + -1353.081278915077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 294.84106295967194, + -1350.4832027037237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 293.34106295967194, + -1347.8851264923703, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 291.84106295967194, + -1345.287050281017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 290.34106295967194, + -1342.6889740696636, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 288.84106295967194, + -1340.0908978583102, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 288.84106295967194, + -1340.0908978583102, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 286.24298674831863, + -1338.5908978583102, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 283.6449105369653, + -1337.0908978583102, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 281.046834325612, + -1335.5908978583102, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 278.4487581142587, + -1334.0908978583102, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 275.85068190290536, + -1332.5908978583102, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 273.25260569155205, + -1331.0908978583102, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 270.65452948019873, + -1329.5908978583102, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 268.0564532688454, + -1328.0908978583102, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-41-54_521035021/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-41-54_521035021/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac83a606ab5f3d37883385577e2ceefab3578bff --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-41-54_521035021/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 383.2068789705105, + -1302.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 380.6088027591572, + -1304.431462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 378.01072654780387, + -1305.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 375.41265033645055, + -1307.431462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 372.81457412509724, + -1308.931462967925, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 372.81457412509724, + -1308.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 369.81457412509724, + -1308.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 366.81457412509724, + -1308.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 363.81457412509724, + -1308.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 360.81457412509724, + -1308.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 357.81457412509724, + -1308.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 354.81457412509724, + -1308.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 351.81457412509724, + -1308.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 348.81457412509724, + -1308.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 345.81457412509724, + -1308.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 342.81457412509724, + -1308.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 339.81457412509724, + -1308.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 336.81457412509724, + -1308.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 333.81457412509724, + -1308.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 330.81457412509724, + -1308.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 327.81457412509724, + -1308.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 324.81457412509724, + -1308.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 321.81457412509724, + -1308.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 318.81457412509724, + -1308.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 315.81457412509724, + -1308.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 312.81457412509724, + -1308.931462967925, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 312.81457412509724, + -1308.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 310.2164979137439, + -1310.431462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 307.6184217023906, + -1311.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 305.0203454910373, + -1313.431462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 302.422269279684, + -1314.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 299.82419306833066, + -1316.431462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 297.22611685697734, + -1317.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 294.628040645624, + -1319.431462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 292.0299644342707, + -1320.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 289.4318882229174, + -1322.431462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 286.8338120115641, + -1323.931462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 284.23573580021076, + -1325.431462967925, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 284.23573580021076, + -1325.431462967925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 282.73573580021076, + -1328.0295391792783, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 281.23573580021076, + -1330.6276153906317, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 279.73573580021076, + -1333.225691601985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 278.23573580021076, + -1335.8237678133385, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 276.73573580021076, + -1338.4218440246918, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 275.23573580021076, + -1341.0199202360452, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 273.73573580021076, + -1343.6179964473986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 272.23573580021076, + -1346.216072658752, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 270.73573580021076, + -1348.8141488701053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 269.23573580021076, + -1351.4122250814587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 267.73573580021076, + -1354.010301292812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 266.23573580021076, + -1356.6083775041654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 264.73573580021076, + -1359.2064537155188, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-46-49_962033002/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-46-49_962033002/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1fcd1a05cf102c843a782012d46010feeade6d84 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-46-49_962033002/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -675.2374505190169, + -2058.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -675.2374505190169, + -2055.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -675.2374505190169, + -2052.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -675.2374505190169, + -2049.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -675.2374505190169, + -2046.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -675.2374505190169, + -2043.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -675.2374505190169, + -2040.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -675.2374505190169, + -2037.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -675.2374505190169, + -2034.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -675.2374505190169, + -2031.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -675.2374505190169, + -2028.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -675.2374505190169, + -2025.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -675.2374505190169, + -2022.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -675.2374505190169, + -2019.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -675.2374505190169, + -2016.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -675.2374505190169, + -2013.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -675.2374505190169, + -2010.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -675.2374505190169, + -2007.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -675.2374505190169, + -2004.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -675.2374505190169, + -2001.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -675.2374505190169, + -1998.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -675.2374505190169, + -1995.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -675.2374505190169, + -1992.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -675.2374505190169, + -1989.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -675.2374505190169, + -1986.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -675.2374505190169, + -1983.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -675.2374505190169, + -1980.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -675.2374505190169, + -1977.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -675.2374505190169, + -1974.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -675.2374505190169, + -1971.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -675.2374505190169, + -1968.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -675.2374505190169, + -1965.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -675.2374505190169, + -1962.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -675.2374505190169, + -1959.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -675.2374505190169, + -1956.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -675.2374505190169, + -1953.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -675.2374505190169, + -1950.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -675.2374505190169, + -1947.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -675.2374505190169, + -1944.0126451069423, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -675.2374505190169, + -1944.0126451069423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -676.7374505190169, + -1941.414568895589, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -678.2374505190169, + -1938.8164926842355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -679.7374505190169, + -1936.2184164728822, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -681.2374505190169, + -1933.6203402615288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -682.7374505190169, + -1931.0222640501754, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -684.2374505190169, + -1928.424187838822, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -684.2374505190169, + -1928.424187838822, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -686.8355267303702, + -1926.924187838822, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -689.4336029417236, + -1925.424187838822, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -692.031679153077, + -1923.924187838822, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -694.6297553644304, + -1922.424187838822, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -697.2278315757837, + -1920.924187838822, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-52-41_586235379/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-52-41_586235379/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..934e49b8d8b2b00bc2c6ddbd12725ec763e8b4d7 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-52-41_586235379/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -48.98337344570001, + -1451.0978572669144, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -51.58144965705333, + -1452.5978572669144, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -54.17952586840664, + -1454.0978572669144, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -56.77760207975996, + -1455.5978572669144, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -59.375678291113275, + -1457.0978572669144, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -61.97375450246659, + -1458.5978572669144, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -64.5718307138199, + -1460.0978572669144, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -67.16990692517322, + -1461.5978572669144, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -69.76798313652654, + -1463.0978572669144, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -72.36605934787985, + -1464.5978572669144, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -72.36605934787985, + -1464.5978572669144, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -73.86605934787985, + -1467.1959334782678, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -75.36605934787985, + -1469.7940096896211, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -76.86605934787985, + -1472.3920859009745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -78.36605934787985, + -1474.9901621123279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -79.86605934787985, + -1477.5882383236813, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -81.36605934787985, + -1480.1863145350346, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -82.86605934787985, + -1482.784390746388, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -84.36605934787985, + -1485.3824669577414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -85.86605934787985, + -1487.9805431690947, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -87.36605934787985, + -1490.5786193804481, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -88.86605934787985, + -1493.1766955918015, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -90.36605934787985, + -1495.7747718031549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -91.86605934787985, + -1498.3728480145082, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -93.36605934787985, + -1500.9709242258616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -94.86605934787985, + -1503.569000437215, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -94.86605934787985, + -1503.569000437215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -97.46413555923317, + -1505.069000437215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -100.06221177058649, + -1506.569000437215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -102.6602879819398, + -1508.069000437215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -105.25836419329312, + -1509.569000437215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -107.85644040464643, + -1511.069000437215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -110.45451661599975, + -1512.569000437215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -113.05259282735307, + -1514.069000437215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -115.65066903870638, + -1515.569000437215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -118.2487452500597, + -1517.069000437215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -120.84682146141301, + -1518.569000437215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -123.44489767276633, + -1520.069000437215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -126.04297388411965, + -1521.569000437215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -128.64105009547296, + -1523.069000437215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -131.23912630682628, + -1524.569000437215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -133.8372025181796, + -1526.069000437215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -136.4352787295329, + -1527.569000437215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -139.03335494088623, + -1529.069000437215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -141.63143115223954, + -1530.569000437215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -144.22950736359286, + -1532.069000437215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -146.82758357494617, + -1533.569000437215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -149.4256597862995, + -1535.069000437215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -152.0237359976528, + -1536.569000437215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -154.62181220900612, + -1538.069000437215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -157.21988842035944, + -1539.569000437215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -159.81796463171275, + -1541.069000437215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -162.41604084306607, + -1542.569000437215, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-58-32_378469911/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-58-32_378469911/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9150b46fd3f5d31342dc6f547025aa8f950e7acf --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-58-32_378469911/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 207.34490475228995, + -1470.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 207.34490475228995, + -1467.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 207.34490475228995, + -1464.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 207.34490475228995, + -1461.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 207.34490475228995, + -1458.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 207.34490475228995, + -1455.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 207.34490475228995, + -1452.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 207.34490475228995, + -1449.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 207.34490475228995, + -1446.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 207.34490475228995, + -1443.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 207.34490475228995, + -1440.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 207.34490475228995, + -1437.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 207.34490475228995, + -1434.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 207.34490475228995, + -1431.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 207.34490475228995, + -1428.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 207.34490475228995, + -1425.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 207.34490475228995, + -1422.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 207.34490475228995, + -1419.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 207.34490475228995, + -1416.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 207.34490475228995, + -1413.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 207.34490475228995, + -1410.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 207.34490475228995, + -1407.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 207.34490475228995, + -1404.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 207.34490475228995, + -1401.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 207.34490475228995, + -1398.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 207.34490475228995, + -1395.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 207.34490475228995, + -1392.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 207.34490475228995, + -1389.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 207.34490475228995, + -1386.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 207.34490475228995, + -1383.361604314287, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 207.34490475228995, + -1383.361604314287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 208.84490475228995, + -1380.7635281029336, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 210.34490475228995, + -1378.1654518915802, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 211.84490475228995, + -1375.5673756802269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 213.34490475228995, + -1372.9692994688735, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 214.84490475228995, + -1370.3712232575201, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 216.34490475228995, + -1367.7731470461667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 217.84490475228995, + -1365.1750708348134, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 219.34490475228995, + -1362.57699462346, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 220.84490475228995, + -1359.9789184121066, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 222.34490475228995, + -1357.3808422007532, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 223.84490475228995, + -1354.7827659893999, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 225.34490475228995, + -1352.1846897780465, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 226.84490475228995, + -1349.5866135666931, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 228.34490475228995, + -1346.9885373553398, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 229.84490475228995, + -1344.3904611439864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 231.34490475228995, + -1341.792384932633, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 232.84490475228995, + -1339.1943087212796, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-6-51_1748806355/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-6-51_1748806355/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3e2dedc84d0d936949df214e9806d36cbeef9ef9 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-6-51_1748806355/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -80.50043423941489, + -1441.7076945054741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -82.00043423941489, + -1444.3057707168275, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -83.50043423941489, + -1446.9038469281809, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -85.00043423941489, + -1449.5019231395343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -86.50043423941489, + -1452.0999993508876, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -88.00043423941489, + -1454.698075562241, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -89.50043423941489, + -1457.2961517735944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -91.00043423941489, + -1459.8942279849477, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -92.50043423941489, + -1462.4923041963011, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -94.00043423941489, + -1465.0903804076545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -95.50043423941489, + -1467.6884566190079, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -97.00043423941489, + -1470.2865328303612, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -98.50043423941489, + -1472.8846090417146, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -100.00043423941489, + -1475.482685253068, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -101.50043423941489, + -1478.0807614644214, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -101.50043423941489, + -1478.0807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -101.50043423941489, + -1481.0807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -101.50043423941489, + -1484.0807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -101.50043423941489, + -1487.0807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -101.50043423941489, + -1490.0807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -101.50043423941489, + -1493.0807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -101.50043423941489, + -1496.0807614644214, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -101.50043423941489, + -1496.0807614644214, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -101.50043423941489, + -1496.0807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -104.0985104507682, + -1497.5807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -106.69658666212152, + -1499.0807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -109.29466287347483, + -1500.5807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -111.89273908482815, + -1502.0807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -114.49081529618147, + -1503.5807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -117.08889150753478, + -1505.0807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -119.6869677188881, + -1506.5807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -122.28504393024141, + -1508.0807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -124.88312014159473, + -1509.5807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -127.48119635294805, + -1511.0807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -130.07927256430136, + -1512.5807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -132.67734877565468, + -1514.0807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -135.275424987008, + -1515.5807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -137.8735011983613, + -1517.0807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -140.47157740971463, + -1518.5807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -143.06965362106794, + -1520.0807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -145.66772983242126, + -1521.5807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -148.26580604377457, + -1523.0807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -150.8638822551279, + -1524.5807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -153.4619584664812, + -1526.0807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -156.06003467783452, + -1527.5807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -158.65811088918784, + -1529.0807614644214, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -158.65811088918784, + -1529.0807614644214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -160.15811088918784, + -1531.6788376757747, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -161.65811088918784, + -1534.276913887128, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-10-30_340563072/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-10-30_340563072/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..762d25ff529b95e72db003ae54249d2aad10ed32 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-10-30_340563072/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 388.05092058977243, + -1343.5572854865018, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 385.4528443784191, + -1345.0572854865018, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 385.4528443784191, + -1345.0572854865018, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 383.9528443784191, + -1347.6553616978551, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 382.4528443784191, + -1350.2534379092085, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 380.9528443784191, + -1352.851514120562, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 379.4528443784191, + -1355.4495903319153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 377.9528443784191, + -1358.0476665432686, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 377.9528443784191, + -1358.0476665432686, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 375.3547681670658, + -1359.5476665432686, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 372.7566919557125, + -1361.0476665432686, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 370.15861574435917, + -1362.5476665432686, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 367.56053953300585, + -1364.0476665432686, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 364.96246332165254, + -1365.5476665432686, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 362.3643871102992, + -1367.0476665432686, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 359.7663108989459, + -1368.5476665432686, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 359.7663108989459, + -1368.5476665432686, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 358.2663108989459, + -1371.145742754622, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 356.7663108989459, + -1373.7438189659754, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 355.2663108989459, + -1376.3418951773288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 353.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 353.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 353.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897833 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 350.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 347.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 344.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 341.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 338.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 335.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 332.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 329.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 326.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 323.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 320.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 317.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 314.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 311.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 308.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 305.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 302.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 299.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 296.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 293.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 290.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 287.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 284.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 281.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 281.7663108989459, + -1378.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 279.1682346875926, + -1377.4399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 276.57015847623927, + -1375.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 273.97208226488596, + -1374.4399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 271.37400605353264, + -1372.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 268.7759298421793, + -1371.4399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 266.177853630826, + -1369.9399713886821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 263.5797774194727, + -1368.4399713886821, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-16-2_1279820114/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-16-2_1279820114/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..620fb409550b844439adb27da5863e374b789705 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-16-2_1279820114/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 221.684994223124, + -1487.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 221.684994223124, + -1484.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 221.684994223124, + -1481.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 221.684994223124, + -1478.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 221.684994223124, + -1475.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 221.684994223124, + -1472.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 221.684994223124, + -1469.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 221.684994223124, + -1466.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 221.684994223124, + -1463.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 221.684994223124, + -1460.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 221.684994223124, + -1457.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 221.684994223124, + -1454.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 221.684994223124, + -1451.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 221.684994223124, + -1448.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 221.684994223124, + -1445.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 221.684994223124, + -1442.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 221.684994223124, + -1439.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 221.684994223124, + -1436.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 221.684994223124, + -1433.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 221.684994223124, + -1430.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 221.684994223124, + -1427.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 221.684994223124, + -1424.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 221.684994223124, + -1421.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 221.684994223124, + -1418.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 221.684994223124, + -1415.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 221.684994223124, + -1412.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 221.684994223124, + -1409.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 221.684994223124, + -1406.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 221.684994223124, + -1403.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 221.684994223124, + -1400.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 221.684994223124, + -1397.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 221.684994223124, + -1394.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 221.684994223124, + -1391.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 221.684994223124, + -1388.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 221.684994223124, + -1385.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 221.684994223124, + -1382.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 221.684994223124, + -1379.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 221.684994223124, + -1376.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 221.684994223124, + -1373.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 221.684994223124, + -1370.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 221.684994223124, + -1367.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 221.684994223124, + -1364.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 221.684994223124, + -1361.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 221.684994223124, + -1358.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 221.684994223124, + -1355.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 221.684994223124, + -1352.4969852461836, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 221.684994223124, + -1352.4969852461836, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 221.684994223124, + -1352.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 224.2830704344773, + -1350.9969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 226.88114664583063, + -1349.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 229.47922285718394, + -1347.9969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 232.07729906853726, + -1346.4969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 234.67537527989057, + -1344.9969852461836, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 234.67537527989057, + -1344.9969852461836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 236.17537527989057, + -1342.3989090348302, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 237.67537527989057, + -1339.8008328234769, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-30-46_1803602255/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-30-46_1803602255/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e6eed4ab938521654933dcce4b1f50d0eebaa7a2 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-30-46_1803602255/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -817.4183927610115, + -1788.6548879349523, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -817.4183927610115, + -1791.6548879349523, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -817.4183927610115, + -1794.6548879349523, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -817.4183927610115, + -1794.6548879349523, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -817.4183927610115, + -1794.6548879349523, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -814.8203165496582, + -1796.1548879349523, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -814.8203165496582, + -1796.1548879349523, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -813.3203165496582, + -1798.7529641463057, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -811.8203165496582, + -1801.351040357659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -810.3203165496582, + -1803.9491165690124, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -808.8203165496582, + -1806.5471927803658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -807.3203165496582, + -1809.1452689917191, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -805.8203165496582, + -1811.7433452030725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -804.3203165496582, + -1814.341421414426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -802.8203165496582, + -1816.9394976257793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -801.3203165496582, + -1819.5375738371326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -799.8203165496582, + -1822.135650048486, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -798.3203165496582, + -1824.7337262598394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -796.8203165496582, + -1827.3318024711928, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -795.3203165496582, + -1829.9298786825461, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -793.8203165496582, + -1832.5279548938995, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -792.3203165496582, + -1835.1260311052529, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -790.8203165496582, + -1837.7241073166063, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -790.8203165496582, + -1837.7241073166063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -788.2222403383048, + -1839.2241073166063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -785.6241641269514, + -1840.7241073166063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -783.026087915598, + -1842.2241073166063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -780.4280117042447, + -1843.7241073166063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -777.8299354928913, + -1845.2241073166063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -775.2318592815379, + -1846.7241073166063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -772.6337830701846, + -1848.2241073166063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -770.0357068588312, + -1849.7241073166063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -767.4376306474778, + -1851.2241073166063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -764.8395544361244, + -1852.7241073166063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -762.2414782247711, + -1854.2241073166063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -759.6434020134177, + -1855.7241073166063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -757.0453258020643, + -1857.2241073166063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -754.447249590711, + -1858.7241073166063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -751.8491733793576, + -1860.2241073166063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -749.2510971680042, + -1861.7241073166063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -746.6530209566508, + -1863.2241073166063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -744.0549447452975, + -1864.7241073166063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -741.4568685339441, + -1866.2241073166063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -738.8587923225907, + -1867.7241073166063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -736.2607161112373, + -1869.2241073166063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -733.662639899884, + -1870.7241073166063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -731.0645636885306, + -1872.2241073166063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -728.4664874771772, + -1873.7241073166063, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-32-35_1322710936/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-32-35_1322710936/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7a32041a9d86f7e251cc230fbd726923dfb0f61e --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-32-35_1322710936/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 379.6124266187443, + -1453.1142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 377.01435040739096, + -1454.6142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 374.41627419603765, + -1456.1142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 371.81819798468433, + -1457.6142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 369.220121773331, + -1459.1142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 366.6220455619777, + -1460.6142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 364.0239693506244, + -1462.1142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 361.42589313927107, + -1463.6142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 358.82781692791775, + -1465.1142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 356.22974071656444, + -1466.6142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 353.6316645052111, + -1468.1142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 351.0335882938578, + -1469.6142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 348.4355120825045, + -1471.1142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 345.8374358711512, + -1472.6142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 343.23935965979786, + -1474.1142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 340.64128344844454, + -1475.6142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 338.0432072370912, + -1477.1142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 335.4451310257379, + -1478.6142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 332.8470548143846, + -1480.1142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 330.2489786030313, + -1481.6142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 327.65090239167796, + -1483.1142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 325.05282618032464, + -1484.6142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 322.4547499689713, + -1486.1142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 319.856673757618, + -1487.6142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 317.2585975462647, + -1489.1142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 314.6605213349114, + -1490.6142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 312.06244512355806, + -1492.1142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 309.46436891220475, + -1493.6142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 306.86629270085143, + -1495.1142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 304.2682164894981, + -1496.6142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 301.6701402781448, + -1498.1142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 299.0720640667915, + -1499.6142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 296.47398785543817, + -1501.1142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 293.87591164408485, + -1502.6142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 291.27783543273154, + -1504.1142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 288.6797592213782, + -1505.6142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 286.0816830100249, + -1507.1142702196378, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 286.0816830100249, + -1507.1142702196378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 284.5816830100249, + -1509.7123464309911, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 283.0816830100249, + -1512.3104226423445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 281.5816830100249, + -1514.908498853698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 280.0816830100249, + -1517.5065750650513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 278.5816830100249, + -1520.1046512764046, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 277.0816830100249, + -1522.702727487758, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 275.5816830100249, + -1525.3008036991114, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 274.0816830100249, + -1527.8988799104648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 272.5816830100249, + -1530.4969561218181, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 271.0816830100249, + -1533.0950323331715, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 269.5816830100249, + -1535.6931085445249, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 268.0816830100249, + -1538.2911847558782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 266.5816830100249, + -1540.8892609672316, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 265.0816830100249, + -1543.487337178585, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1560.0, + -206.55 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-33-3_75191653/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-33-3_75191653/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f2039868b49f9afa3dea15a84883ecbff228516d --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-33-3_75191653/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -38.81136493299442, + -1828.8854779377234, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -37.31136493299442, + -1826.28740172637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -35.81136493299442, + -1823.6893255150167, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -34.31136493299442, + -1821.0912493036633, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -32.81136493299442, + -1818.49317309231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -31.311364932994422, + -1815.8950968809565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -29.811364932994422, + -1813.2970206696032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -28.311364932994422, + -1810.6989444582498, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -26.811364932994422, + -1808.1008682468964, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -26.811364932994422, + -1808.1008682468964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -24.213288721641106, + -1806.6008682468964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -21.61521251028779, + -1805.1008682468964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -19.017136298934474, + -1803.6008682468964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -16.41906008758116, + -1802.1008682468964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -13.820983876227842, + -1800.6008682468964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -11.222907664874526, + -1799.1008682468964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -8.62483145352121, + -1797.6008682468964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -6.026755242167894, + -1796.1008682468964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -3.4286790308145783, + -1794.6008682468964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -0.8306028194612622, + -1793.1008682468964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1.7674733918920538, + -1791.6008682468964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4.36554960324537, + -1790.1008682468964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 6.963625814598686, + -1788.6008682468964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 9.561702025952002, + -1787.1008682468964, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 9.561702025952002, + -1787.1008682468964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 11.061702025952002, + -1784.502792035543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 12.561702025952002, + -1781.9047158241897, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 14.061702025952002, + -1779.3066396128363, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 15.561702025952002, + -1776.708563401483, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 17.061702025952002, + -1774.1104871901296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 18.561702025952002, + -1771.5124109787762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 20.061702025952002, + -1768.9143347674228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 21.561702025952002, + -1766.3162585560694, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 23.061702025952002, + -1763.718182344716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 24.561702025952002, + -1761.1201061333627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 26.061702025952002, + -1758.5220299220093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 27.561702025952002, + -1755.923953710656, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 29.061702025952002, + -1753.3258774993026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 30.561702025952002, + -1750.7278012879492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 32.061702025952, + -1748.1297250765958, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 33.561702025952, + -1745.5316488652425, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 35.061702025952, + -1742.933572653889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 36.561702025952, + -1740.3354964425357, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 38.061702025952, + -1737.7374202311823, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 39.561702025952, + -1735.139344019829, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 41.061702025952, + -1732.5412678084756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 42.561702025952, + -1729.9431915971222, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 44.061702025952, + -1727.3451153857688, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-40-15_1476492728/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-40-15_1476492728/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6efaeed34a5d3ea9e19b3fca9e7583cb5710c797 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-40-15_1476492728/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 28.093309809289707, + -1532.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 28.093309809289707, + -1535.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 28.093309809289707, + -1538.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 28.093309809289707, + -1541.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 28.093309809289707, + -1544.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 28.093309809289707, + -1547.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 28.093309809289707, + -1550.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 28.093309809289707, + -1553.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 28.093309809289707, + -1556.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 28.093309809289707, + -1559.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 28.093309809289707, + -1562.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 28.093309809289707, + -1565.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 28.093309809289707, + -1568.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 28.093309809289707, + -1571.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 28.093309809289707, + -1574.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 28.093309809289707, + -1577.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 28.093309809289707, + -1580.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 28.093309809289707, + -1583.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 28.093309809289707, + -1586.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 28.093309809289707, + -1589.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 28.093309809289707, + -1592.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 28.093309809289707, + -1595.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 28.093309809289707, + -1598.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 28.093309809289707, + -1601.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 28.093309809289707, + -1604.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 28.093309809289707, + -1607.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 28.093309809289707, + -1610.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 28.093309809289707, + -1613.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 28.093309809289707, + -1616.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 28.093309809289707, + -1619.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 28.093309809289707, + -1622.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 28.093309809289707, + -1625.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 28.093309809289707, + -1628.3174832847415, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 28.093309809289707, + -1628.3174832847415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 29.593309809289707, + -1630.9155594960948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 31.093309809289707, + -1633.5136357074482, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 32.59330980928971, + -1636.1117119188016, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 34.09330980928971, + -1638.709788130155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 35.59330980928971, + -1641.3078643415083, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 37.09330980928971, + -1643.9059405528617, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 38.59330980928971, + -1646.504016764215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 40.09330980928971, + -1649.1020929755684, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 41.59330980928971, + -1651.7001691869218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 43.09330980928971, + -1654.2982453982752, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 44.59330980928971, + -1656.8963216096286, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 44.59330980928971, + -1656.8963216096286, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 44.59330980928971, + -1659.8963216096286, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 44.59330980928971, + -1662.8963216096286, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 44.59330980928971, + -1662.8963216096286, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 44.59330980928971, + -1662.8963216096286, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 47.19138602064302, + -1664.3963216096286, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 49.78946223199634, + -1665.8963216096286, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 52.387538443349655, + -1667.3963216096286, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 54.98561465470297, + -1668.8963216096286, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 57.58369086605629, + -1670.3963216096286, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 60.1817670774096, + -1671.8963216096286, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-48-29_1899542553/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-48-29_1899542553/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab1e87638ae95a904e1dca74606cfd61df22e8ec --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-48-29_1899542553/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 381.76055227397654, + -1371.0720601838395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 379.1624760626232, + -1372.5720601838395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 376.5643998512699, + -1374.0720601838395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 373.9663236399166, + -1375.5720601838395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 371.3682474285633, + -1377.0720601838395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 368.77017121720996, + -1378.5720601838395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 366.17209500585665, + -1380.0720601838395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 363.57401879450333, + -1381.5720601838395, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 363.57401879450333, + -1381.5720601838395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 360.57401879450333, + -1381.5720601838395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 357.57401879450333, + -1381.5720601838395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 354.57401879450333, + -1381.5720601838395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 351.57401879450333, + -1381.5720601838395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 348.57401879450333, + -1381.5720601838395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 345.57401879450333, + -1381.5720601838395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 342.57401879450333, + -1381.5720601838395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 339.57401879450333, + -1381.5720601838395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 336.57401879450333, + -1381.5720601838395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 333.57401879450333, + -1381.5720601838395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 330.57401879450333, + -1381.5720601838395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 327.57401879450333, + -1381.5720601838395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 324.57401879450333, + -1381.5720601838395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 321.57401879450333, + -1381.5720601838395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 318.57401879450333, + -1381.5720601838395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 315.57401879450333, + -1381.5720601838395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 312.57401879450333, + -1381.5720601838395, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 312.57401879450333, + -1381.5720601838395, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 312.57401879450333, + -1381.5720601838395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 311.07401879450333, + -1378.9739839724862, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 309.57401879450333, + -1376.3759077611328, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 308.07401879450333, + -1373.7778315497794, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 306.57401879450333, + -1371.179755338426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 305.07401879450333, + -1368.5816791270727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 303.57401879450333, + -1365.9836029157193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 302.07401879450333, + -1363.385526704366, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 300.57401879450333, + -1360.7874504930126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 299.07401879450333, + -1358.1893742816592, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 297.57401879450333, + -1355.5912980703058, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 296.07401879450333, + -1352.9932218589524, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 294.57401879450333, + -1350.395145647599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 293.07401879450333, + -1347.7970694362457, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 291.57401879450333, + -1345.1989932248923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 290.07401879450333, + -1342.600917013539, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 290.07401879450333, + -1342.600917013539, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 287.47594258315, + -1341.100917013539, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 284.8778663717967, + -1339.600917013539, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 282.2797901604434, + -1338.100917013539, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 279.68171394909007, + -1336.600917013539, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 277.08363773773675, + -1335.100917013539, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 274.48556152638344, + -1333.600917013539, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 271.8874853150301, + -1332.100917013539, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 269.2894091036768, + -1330.600917013539, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 266.6913328923235, + -1329.100917013539, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-5-58_322334813/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-5-58_322334813/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..578213388ff48dbcd952b5d795346be17b36d7e9 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-5-58_322334813/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -150.42886854910245, + -1587.6574059532072, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -151.92886854910245, + -1585.0593297418538, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -153.42886854910245, + -1582.4612535305005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -154.92886854910245, + -1579.863177319147, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -156.42886854910245, + -1577.2651011077937, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -157.92886854910245, + -1574.6670248964404, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -157.92886854910245, + -1574.6670248964404, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -157.92886854910245, + -1571.6670248964404, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -157.92886854910245, + -1568.6670248964404, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -157.92886854910245, + -1565.6670248964404, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -157.92886854910245, + -1562.6670248964404, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -157.92886854910245, + -1559.6670248964404, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -157.92886854910245, + -1556.6670248964404, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -157.92886854910245, + -1556.6670248964404, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -159.42886854910245, + -1554.068948685087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -160.92886854910245, + -1551.4708724737336, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -162.42886854910245, + -1548.8727962623802, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -163.92886854910245, + -1546.2747200510269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -165.42886854910245, + -1543.6766438396735, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -166.92886854910245, + -1541.0785676283201, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -168.42886854910245, + -1538.4804914169667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -169.92886854910245, + -1535.8824152056134, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -171.42886854910245, + -1533.28433899426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -172.92886854910245, + -1530.6862627829066, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -174.42886854910245, + -1528.0881865715533, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -175.92886854910245, + -1525.4901103601999, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -177.42886854910245, + -1522.8920341488465, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -178.92886854910245, + -1520.2939579374931, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -180.42886854910245, + -1517.6958817261398, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -181.92886854910245, + -1515.0978055147864, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -181.92886854910245, + -1515.0978055147864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -184.52694476045576, + -1513.5978055147864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -187.12502097180908, + -1512.0978055147864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -189.7230971831624, + -1510.5978055147864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -192.3211733945157, + -1509.0978055147864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -194.91924960586903, + -1507.5978055147864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -197.51732581722234, + -1506.0978055147864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -200.11540202857566, + -1504.5978055147864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -202.71347823992897, + -1503.0978055147864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -205.3115544512823, + -1501.5978055147864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -207.9096306626356, + -1500.0978055147864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -210.50770687398892, + -1498.5978055147864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -213.10578308534224, + -1497.0978055147864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -215.70385929669555, + -1495.5978055147864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -218.30193550804887, + -1494.0978055147864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -220.9000117194022, + -1492.5978055147864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -223.4980879307555, + -1491.0978055147864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -226.09616414210882, + -1489.5978055147864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -228.69424035346213, + -1488.0978055147864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -231.29231656481545, + -1486.5978055147864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -233.89039277616877, + -1485.0978055147864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -236.48846898752208, + -1483.5978055147864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -239.0865451988754, + -1482.0978055147864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -241.68462141022871, + -1480.5978055147864, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-59-34_1475952280/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-59-34_1475952280/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0062ec68917b37755c967349ef0b0a9dd333c1af --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-59-34_1475952280/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 385.84766173084427, + -1332.6097129828242, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 388.84766173084427, + -1332.6097129828242, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 391.84766173084427, + -1332.6097129828242, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 391.84766173084427, + -1332.6097129828242, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 391.84766173084427, + -1332.6097129828242, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 393.34766173084427, + -1330.0116367714709, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 394.84766173084427, + -1327.4135605601175, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 396.34766173084427, + -1324.8154843487641, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 397.84766173084427, + -1322.2174081374108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 399.34766173084427, + -1319.6193319260574, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 400.84766173084427, + -1317.021255714704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 402.34766173084427, + -1314.4231795033506, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 403.84766173084427, + -1311.8251032919973, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 405.34766173084427, + -1309.227027080644, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 406.84766173084427, + -1306.6289508692905, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 408.34766173084427, + -1304.0308746579371, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 409.84766173084427, + -1301.4327984465838, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 411.34766173084427, + -1298.8347222352304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 412.84766173084427, + -1296.236646023877, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 412.84766173084427, + -1296.236646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 415.4457379421976, + -1294.736646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 418.0438141535509, + -1293.236646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 420.6418903649042, + -1291.736646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 423.23996657625753, + -1290.236646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 425.83804278761085, + -1288.736646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 428.43611899896416, + -1287.236646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 431.0341952103175, + -1285.736646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 433.6322714216708, + -1284.236646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 436.2303476330241, + -1282.736646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 438.8284238443774, + -1281.236646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 441.42650005573074, + -1279.736646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 444.02457626708406, + -1278.236646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 446.6226524784374, + -1276.736646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 449.2207286897907, + -1275.236646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 451.818804901144, + -1273.736646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 454.4168811124973, + -1272.236646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 457.01495732385064, + -1270.736646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 459.61303353520395, + -1269.236646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 462.21110974655727, + -1267.736646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 464.8091859579106, + -1266.236646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 467.4072621692639, + -1264.736646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 470.0053383806172, + -1263.236646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 472.60341459197053, + -1261.736646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 475.20149080332385, + -1260.236646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 477.79956701467717, + -1258.736646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 480.3976432260305, + -1257.236646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 482.9957194373838, + -1255.736646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 485.5937956487371, + -1254.236646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 488.19187186009043, + -1252.736646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 490.78994807144375, + -1251.236646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 493.38802428279706, + -1249.736646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 495.9861004941504, + -1248.236646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 498.5841767055037, + -1246.736646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 501.182252916857, + -1245.236646023877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 503.7803291282103, + -1243.736646023877, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-8-17_1820965014/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-8-17_1820965014/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3b88103d36a301457b3385bc3025817ed6514436 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-8-17_1820965014/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -109.90777038260612, + -1503.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -112.50584659395943, + -1502.0396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -115.10392280531275, + -1500.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -117.70199901666606, + -1499.0396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -120.30007522801938, + -1497.5396720886397, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -120.30007522801938, + -1497.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -123.30007522801938, + -1497.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -126.30007522801938, + -1497.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -129.30007522801938, + -1497.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -132.30007522801938, + -1497.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -135.30007522801938, + -1497.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -138.30007522801938, + -1497.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -141.30007522801938, + -1497.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -144.30007522801938, + -1497.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -147.30007522801938, + -1497.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -150.30007522801938, + -1497.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -153.30007522801938, + -1497.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -156.30007522801938, + -1497.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -159.30007522801938, + -1497.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -162.30007522801938, + -1497.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -165.30007522801938, + -1497.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -168.30007522801938, + -1497.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -171.30007522801938, + -1497.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -174.30007522801938, + -1497.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -177.30007522801938, + -1497.5396720886397, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -177.30007522801938, + -1497.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -179.8981514393727, + -1496.0396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -182.496227650726, + -1494.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -185.09430386207933, + -1493.0396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -187.69238007343264, + -1491.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -190.29045628478596, + -1490.0396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -192.88853249613928, + -1488.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -195.4866087074926, + -1487.0396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -198.0846849188459, + -1485.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -200.68276113019922, + -1484.0396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -203.28083734155254, + -1482.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -205.87891355290586, + -1481.0396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -208.47698976425917, + -1479.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -211.0750659756125, + -1478.0396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -213.6731421869658, + -1476.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -216.27121839831912, + -1475.0396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -218.86929460967244, + -1473.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -221.46737082102575, + -1472.0396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -224.06544703237907, + -1470.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -226.66352324373239, + -1469.0396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -229.2615994550857, + -1467.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -231.85967566643902, + -1466.0396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -234.45775187779233, + -1464.5396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -237.05582808914565, + -1463.0396720886397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -239.65390430049897, + -1461.5396720886397, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-1-3_866596855/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-1-3_866596855/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fe80de1a0e9d523086313c3aadbb106677469932 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-1-3_866596855/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -97.14971124242358, + -1415.209621247679, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -98.64971124242358, + -1417.8076974590324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -100.14971124242358, + -1420.4057736703858, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -101.64971124242358, + -1423.0038498817391, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -103.14971124242358, + -1425.6019260930925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -104.64971124242358, + -1428.200002304446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -106.14971124242358, + -1430.7980785157993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -107.64971124242358, + -1433.3961547271526, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -107.64971124242358, + -1433.3961547271526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -110.2477874537769, + -1434.8961547271526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -112.84586366513021, + -1436.3961547271526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -115.44393987648353, + -1437.8961547271526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -118.04201608783684, + -1439.3961547271526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -120.64009229919016, + -1440.8961547271526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -123.23816851054347, + -1442.3961547271526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -125.83624472189679, + -1443.8961547271526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -128.4343209332501, + -1445.3961547271526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991492 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -131.0323971446034, + -1446.8961547271526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -133.63047335595672, + -1448.3961547271526, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -133.63047335595672, + -1448.3961547271526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -135.13047335595672, + -1450.994230938506, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -136.63047335595672, + -1453.5923071498594, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -138.13047335595672, + -1456.1903833612128, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -139.63047335595672, + -1458.7884595725661, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -141.13047335595672, + -1461.3865357839195, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -142.63047335595672, + -1463.9846119952729, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -144.13047335595672, + -1466.5826882066262, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -145.63047335595672, + -1469.1807644179796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -147.13047335595672, + -1471.778840629333, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -148.63047335595672, + -1474.3769168406864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -150.13047335595672, + -1476.9749930520397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -151.63047335595672, + -1479.573069263393, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -153.13047335595672, + -1482.1711454747465, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -154.63047335595672, + -1484.7692216860999, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -156.13047335595672, + -1487.3672978974532, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -157.63047335595672, + -1489.9653741088066, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -159.13047335595672, + -1492.56345032016, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -160.63047335595672, + -1495.1615265315133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -162.13047335595672, + -1497.7596027428667, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -162.13047335595672, + -1497.7596027428667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -162.13047335595672, + -1500.7596027428667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -162.13047335595672, + -1503.7596027428667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -162.13047335595672, + -1506.7596027428667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -162.13047335595672, + -1509.7596027428667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -162.13047335595672, + -1512.7596027428667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -162.13047335595672, + -1515.7596027428667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -162.13047335595672, + -1518.7596027428667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -162.13047335595672, + -1521.7596027428667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -162.13047335595672, + -1524.7596027428667, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-17-40_1019382894/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-17-40_1019382894/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e670e8f9da2980a1e8330cb06df4d4a05aa45053 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-17-40_1019382894/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -804.574401051798, + -2023.3639670573361, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -803.074401051798, + -2020.7658908459828, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -801.574401051798, + -2018.1678146346294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -800.074401051798, + -2015.569738423276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -798.574401051798, + -2012.9716622119226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -797.074401051798, + -2010.3735860005693, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -795.574401051798, + -2007.775509789216, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -794.074401051798, + -2005.1774335778625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -792.574401051798, + -2002.5793573665092, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -791.074401051798, + -1999.9812811551558, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -789.574401051798, + -1997.3832049438024, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -788.074401051798, + -1994.785128732449, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -786.574401051798, + -1992.1870525210957, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -785.074401051798, + -1989.5889763097423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -783.574401051798, + -1986.990900098389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -782.074401051798, + -1984.3928238870355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -780.574401051798, + -1981.7947476756822, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -779.074401051798, + -1979.1966714643288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -777.574401051798, + -1976.5985952529754, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -776.074401051798, + -1974.000519041622, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -774.574401051798, + -1971.4024428302687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -773.074401051798, + -1968.8043666189153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -771.574401051798, + -1966.206290407562, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -770.074401051798, + -1963.6082141962086, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -768.574401051798, + -1961.0101379848552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -767.074401051798, + -1958.4120617735018, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -765.574401051798, + -1955.8139855621484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -764.074401051798, + -1953.215909350795, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -762.574401051798, + -1950.6178331394417, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -761.074401051798, + -1948.0197569280883, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -759.574401051798, + -1945.421680716735, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -758.074401051798, + -1942.8236045053816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -756.574401051798, + -1940.2255282940282, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -756.574401051798, + -1940.2255282940282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -753.9763248404447, + -1938.7255282940282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -751.3782486290913, + -1937.2255282940282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -748.780172417738, + -1935.7255282940282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -746.1820962063846, + -1934.2255282940282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -743.5840199950312, + -1932.7255282940282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -740.9859437836778, + -1931.2255282940282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -738.3878675723245, + -1929.7255282940282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -735.7897913609711, + -1928.2255282940282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -733.1917151496177, + -1926.7255282940282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -730.5936389382643, + -1925.2255282940282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -727.995562726911, + -1923.7255282940282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -725.3974865155576, + -1922.2255282940282, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-18-33_278190158/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-18-33_278190158/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77af94856aec22be8b4f9f564ba6b2a6f1f9254d --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-18-33_278190158/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 429.4629808980709, + -1347.4478337381397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 432.4629808980709, + -1347.4478337381397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 435.4629808980709, + -1347.4478337381397, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 435.4629808980709, + -1347.4478337381397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 438.0610571094242, + -1345.9478337381397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 440.6591333207775, + -1344.4478337381397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 443.25720953213084, + -1342.9478337381397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 445.85528574348416, + -1341.4478337381397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 448.4533619548375, + -1339.9478337381397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 451.0514381661908, + -1338.4478337381397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 453.6495143775441, + -1336.9478337381397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 456.2475905888974, + -1335.4478337381397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 458.84566680025074, + -1333.9478337381397, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 458.84566680025074, + -1333.9478337381397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 460.34566680025074, + -1331.3497575267863, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 461.84566680025074, + -1328.751681315433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 463.34566680025074, + -1326.1536051040796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 464.84566680025074, + -1323.5555288927262, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 466.34566680025074, + -1320.9574526813728, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 467.84566680025074, + -1318.3593764700195, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 469.34566680025074, + -1315.761300258666, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 470.84566680025074, + -1313.1632240473127, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 472.34566680025074, + -1310.5651478359594, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 473.84566680025074, + -1307.967071624606, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 475.34566680025074, + -1305.3689954132526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 476.84566680025074, + -1302.7709192018992, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 478.34566680025074, + -1300.1728429905459, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 479.84566680025074, + -1297.5747667791925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 481.34566680025074, + -1294.9766905678391, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 482.84566680025074, + -1292.3786143564857, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 484.34566680025074, + -1289.7805381451324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 485.84566680025074, + -1287.182461933779, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 487.34566680025074, + -1284.5843857224256, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 488.84566680025074, + -1281.9863095110722, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 490.34566680025074, + -1279.3882332997189, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 491.84566680025074, + -1276.7901570883655, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 493.34566680025074, + -1274.1920808770121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 494.84566680025074, + -1271.5940046656588, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 496.34566680025074, + -1268.9959284543054, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 497.84566680025074, + -1266.397852242952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 499.34566680025074, + -1263.7997760315986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 500.84566680025074, + -1261.2016998202453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 502.34566680025074, + -1258.603623608892, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 503.84566680025074, + -1256.0055473975385, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 505.34566680025074, + -1253.4074711861851, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 506.84566680025074, + -1250.8093949748318, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-23-10_1752143421/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-23-10_1752143421/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..522f182887e96df375488701c78fda1e2596adde --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-23-10_1752143421/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -43.12087406376814, + -1807.1008772387113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -40.12087406376814, + -1807.1008772387113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -37.12087406376814, + -1807.1008772387113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -34.12087406376814, + -1807.1008772387113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -31.12087406376814, + -1807.1008772387113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -28.12087406376814, + -1807.1008772387113, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -28.12087406376814, + -1807.1008772387113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -25.522797852414826, + -1805.6008772387113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -22.92472164106151, + -1804.1008772387113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -20.326645429708194, + -1802.6008772387113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -17.728569218354878, + -1801.1008772387113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -15.130493007001562, + -1799.6008772387113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -12.532416795648246, + -1798.1008772387113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -9.93434058429493, + -1796.6008772387113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -7.3362643729416135, + -1795.1008772387113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -4.7381881615882975, + -1793.6008772387113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2.1401119502349815, + -1792.1008772387113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 0.45796426111833455, + -1790.6008772387113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3.0560404724716506, + -1789.1008772387113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 5.654116683824967, + -1787.6008772387113, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 5.654116683824967, + -1787.6008772387113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 7.154116683824967, + -1785.002801027358, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 8.654116683824967, + -1782.4047248160045, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 10.154116683824967, + -1779.8066486046512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 11.654116683824967, + -1777.2085723932978, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 13.154116683824967, + -1774.6104961819444, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 14.654116683824967, + -1772.012419970591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 16.154116683824967, + -1769.4143437592377, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 17.654116683824967, + -1766.8162675478843, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 19.154116683824967, + -1764.218191336531, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 20.654116683824967, + -1761.6201151251776, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 22.154116683824967, + -1759.0220389138242, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 23.654116683824967, + -1756.4239627024708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 25.154116683824967, + -1753.8258864911174, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 26.654116683824967, + -1751.227810279764, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 28.154116683824967, + -1748.6297340684107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 29.654116683824967, + -1746.0316578570573, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 31.154116683824967, + -1743.433581645704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 32.65411668382497, + -1740.8355054343506, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 34.15411668382497, + -1738.2374292229972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 35.65411668382497, + -1735.6393530116438, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 37.15411668382497, + -1733.0412768002905, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 38.65411668382497, + -1730.443200588937, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 40.15411668382497, + -1727.8451243775837, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 41.65411668382497, + -1725.2470481662303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 43.15411668382497, + -1722.648971954877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 44.65411668382497, + -1720.0508957435236, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-26-9_688852786/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-26-9_688852786/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ccefc40e1333abd7970900fd7fda37d9f6f51406 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-26-9_688852786/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 412.44504803737186, + -1338.4177147950015, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 409.84697182601855, + -1336.9177147950015, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 409.84697182601855, + -1336.9177147950015, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 408.34697182601855, + -1334.3196385836482, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 406.84697182601855, + -1331.7215623722948, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 406.84697182601855, + -1331.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 404.24889561466523, + -1330.2215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 401.6508194033119, + -1328.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 399.0527431919586, + -1327.2215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 396.4546669806053, + -1325.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 393.85659076925197, + -1324.2215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 391.25851455789865, + -1322.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 388.66043834654533, + -1321.2215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 386.062362135192, + -1319.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 383.4642859238387, + -1318.2215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 380.8662097124854, + -1316.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 378.26813350113207, + -1315.2215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 375.67005728977875, + -1313.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 373.07198107842544, + -1312.2215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 370.4739048670721, + -1310.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 367.8758286557188, + -1309.2215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 365.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 365.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 362.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 359.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 356.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 353.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 350.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 347.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 344.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 341.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 338.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 335.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 332.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 329.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 326.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 323.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 320.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 317.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 314.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 311.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 308.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 305.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 302.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 299.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 296.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 293.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 290.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 287.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 284.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 281.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 281.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 281.2777524443655, + -1307.7215623722948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 279.7777524443655, + -1310.3196385836482, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 278.2777524443655, + -1312.9177147950015, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 276.7777524443655, + -1315.515791006355, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 276.7777524443655, + -1315.515791006355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 274.1796762330122, + -1317.015791006355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 271.58160002165886, + -1318.515791006355, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-27-5_1659239833/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-27-5_1659239833/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f0b63512cafef8fcf23583304b2cd39eeadec098 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-27-5_1659239833/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -768.404946346357, + -2034.8159413447577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -766.904946346357, + -2032.2178651334043, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -765.404946346357, + -2029.619788922051, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -763.904946346357, + -2027.0217127106976, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -762.404946346357, + -2024.4236364993442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -760.904946346357, + -2021.8255602879908, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -759.404946346357, + -2019.2274840766374, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -757.904946346357, + -2016.629407865284, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -756.404946346357, + -2014.0313316539307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -754.904946346357, + -2011.4332554425773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -753.404946346357, + -2008.835179231224, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -751.904946346357, + -2006.2371030198706, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -750.404946346357, + -2003.6390268085172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -748.904946346357, + -2001.0409505971638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -747.404946346357, + -1998.4428743858105, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -745.904946346357, + -1995.844798174457, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -744.404946346357, + -1993.2467219631037, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -742.904946346357, + -1990.6486457517503, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -742.904946346357, + -1990.6486457517503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -740.3068701350037, + -1989.1486457517503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -737.7087939236503, + -1987.6486457517503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -735.110717712297, + -1986.1486457517503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -732.5126415009436, + -1984.6486457517503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -729.9145652895902, + -1983.1486457517503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -727.3164890782368, + -1981.6486457517503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -724.7184128668835, + -1980.1486457517503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -722.1203366555301, + -1978.6486457517503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -719.5222604441767, + -1977.1486457517503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -716.9241842328233, + -1975.6486457517503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -714.32610802147, + -1974.1486457517503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -711.7280318101166, + -1972.6486457517503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -709.1299555987632, + -1971.1486457517503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -706.5318793874098, + -1969.6486457517503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -703.9338031760565, + -1968.1486457517503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -701.3357269647031, + -1966.6486457517503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -698.7376507533497, + -1965.1486457517503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -696.1395745419964, + -1963.6486457517503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -693.541498330643, + -1962.1486457517503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -690.9434221192896, + -1960.6486457517503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -688.3453459079362, + -1959.1486457517503, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -688.3453459079362, + -1959.1486457517503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -686.8453459079362, + -1956.550569540397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -685.3453459079362, + -1953.9524933290436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -683.8453459079362, + -1951.3544171176902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -682.3453459079362, + -1948.7563409063368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -680.8453459079362, + -1946.1582646949835, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -679.3453459079362, + -1943.56018848363, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-3-24_612203759/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-3-24_612203759/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..74c39e4a3f72a0416dfd2c77a400ecc2f34f688d --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-3-24_612203759/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 210.15924331602082, + -1585.6814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 207.5611671046675, + -1587.1814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 204.9630908933142, + -1588.6814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 202.36501468196087, + -1590.1814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 199.76693847060756, + -1591.6814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 197.16886225925424, + -1593.1814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 194.57078604790092, + -1594.6814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 191.9727098365476, + -1596.1814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 189.3746336251943, + -1597.6814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 186.77655741384098, + -1599.1814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 184.17848120248766, + -1600.6814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 181.58040499113434, + -1602.1814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 178.98232877978103, + -1603.6814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 176.3842525684277, + -1605.1814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 173.7861763570744, + -1606.6814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 171.18810014572108, + -1608.1814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 168.59002393436776, + -1609.6814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 165.99194772301445, + -1611.1814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 163.39387151166113, + -1612.6814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 160.79579530030782, + -1614.1814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 158.1977190889545, + -1615.6814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 155.59964287760118, + -1617.1814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 153.00156666624787, + -1618.6814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 150.40349045489455, + -1620.1814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 147.80541424354124, + -1621.6814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 145.20733803218792, + -1623.1814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 142.6092618208346, + -1624.6814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 140.0111856094813, + -1626.1814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 137.41310939812797, + -1627.6814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 134.81503318677466, + -1629.1814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 132.21695697542134, + -1630.6814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 129.61888076406802, + -1632.1814957644053, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 129.61888076406802, + -1632.1814957644053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 128.11888076406802, + -1634.7795719757587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 126.61888076406802, + -1637.377648187112, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 125.11888076406802, + -1639.9757243984654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 123.61888076406802, + -1642.5738006098188, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 122.11888076406802, + -1645.1718768211722, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 120.61888076406802, + -1647.7699530325256, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 119.11888076406802, + -1650.368029243879, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 117.61888076406802, + -1652.9661054552323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 116.11888076406802, + -1655.5641816665857, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 114.61888076406802, + -1658.162257877939, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 114.61888076406802, + -1658.162257877939, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 114.61888076406802, + -1661.162257877939, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 114.61888076406802, + -1661.162257877939, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 114.61888076406802, + -1661.162257877939, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 112.02080455271471, + -1662.662257877939, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 109.42272834136139, + -1664.162257877939, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 106.82465213000808, + -1665.662257877939, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 104.22657591865476, + -1667.162257877939, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 101.62849970730144, + -1668.662257877939, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 99.03042349594813, + -1670.162257877939, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-30-27_897534569/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-30-27_897534569/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3b7d5bb987e1609e898af8bb64ebb4a6c01c51c6 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-30-27_897534569/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 373.9767469074754, + -1254.5168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 371.37867069612207, + -1256.0168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 368.78059448476876, + -1257.5168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 366.18251827341544, + -1259.0168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 363.5844420620621, + -1260.5168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 360.9863658507088, + -1262.0168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 358.3882896393555, + -1263.5168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 355.7902134280022, + -1265.0168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 353.19213721664886, + -1266.5168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 350.59406100529554, + -1268.0168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 347.9959847939422, + -1269.5168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 345.3979085825889, + -1271.0168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 342.7998323712356, + -1272.5168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 340.2017561598823, + -1274.0168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 337.60367994852896, + -1275.5168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 335.00560373717565, + -1277.0168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 332.40752752582233, + -1278.5168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 329.809451314469, + -1280.0168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 327.2113751031157, + -1281.5168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 324.6132988917624, + -1283.0168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 322.01522268040907, + -1284.5168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 319.41714646905575, + -1286.0168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 316.81907025770244, + -1287.5168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 314.2209940463491, + -1289.0168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 311.6229178349958, + -1290.5168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 309.0248416236425, + -1292.0168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 306.42676541228917, + -1293.5168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 303.82868920093586, + -1295.0168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 301.23061298958254, + -1296.5168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 298.6325367782292, + -1298.0168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 296.0344605668759, + -1299.5168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 293.4363843555226, + -1301.0168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 290.8383081441693, + -1302.5168497484817, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 290.8383081441693, + -1302.5168497484817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 289.3383081441693, + -1305.114925959835, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 287.8383081441693, + -1307.7130021711885, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 286.3383081441693, + -1310.3110783825418, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 284.8383081441693, + -1312.9091545938952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 283.3383081441693, + -1315.5072308052486, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 281.8383081441693, + -1318.105307016602, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 280.3383081441693, + -1320.7033832279553, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 278.8383081441693, + -1323.3014594393087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 277.3383081441693, + -1325.899535650662, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 275.8383081441693, + -1328.4976118620154, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 274.3383081441693, + -1331.0956880733688, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 272.8383081441693, + -1333.6937642847222, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 271.3383081441693, + -1336.2918404960756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 269.8383081441693, + -1338.889916707429, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 268.3383081441693, + -1341.4879929187823, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 266.8383081441693, + -1344.0860691301357, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 265.3383081441693, + -1346.684145341489, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 263.8383081441693, + -1349.2822215528424, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 262.3383081441693, + -1351.8802977641958, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-52-39_2122466788/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-52-39_2122466788/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6e7c1d201848a1c6378555d1e2a11e99bda525c3 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-52-39_2122466788/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 381.1654033134061, + -1420.9350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 378.5673271020528, + -1419.4350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 375.96925089069947, + -1417.9350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 373.37117467934615, + -1416.4350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 370.77309846799284, + -1414.9350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 368.1750222566395, + -1413.4350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 365.5769460452862, + -1411.9350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 362.9788698339329, + -1410.4350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 360.3807936225796, + -1408.9350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 357.78271741122626, + -1407.4350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 355.18464119987294, + -1405.9350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 352.5865649885196, + -1404.4350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 349.9884887771663, + -1402.9350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 347.390412565813, + -1401.4350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 344.7923363544597, + -1399.9350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 342.19426014310636, + -1398.4350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 339.59618393175305, + -1396.9350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 336.99810772039973, + -1395.4350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 334.4000315090464, + -1393.9350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 331.8019552976931, + -1392.4350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 329.2038790863398, + -1390.9350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 326.60580287498647, + -1389.4350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 324.00772666363315, + -1387.9350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 321.40965045227983, + -1386.4350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 318.8115742409265, + -1384.9350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 316.2134980295732, + -1383.4350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 313.6154218182199, + -1381.9350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 311.01734560686657, + -1380.4350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 308.41926939551325, + -1378.9350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 305.82119318415994, + -1377.4350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 303.2231169728066, + -1375.9350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 300.6250407614533, + -1374.4350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 298.0269645501, + -1372.9350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 295.4288883387467, + -1371.4350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 292.83081212739336, + -1369.9350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 290.23273591604004, + -1368.4350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 287.6346597046867, + -1366.9350811285587, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 287.6346597046867, + -1366.9350811285587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 286.1346597046867, + -1364.3370049172054, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 284.6346597046867, + -1361.738928705852, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 283.1346597046867, + -1359.1408524944986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 281.6346597046867, + -1356.5427762831453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 280.1346597046867, + -1353.9447000717919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 278.6346597046867, + -1351.3466238604385, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 277.1346597046867, + -1348.7485476490851, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 275.6346597046867, + -1346.1504714377318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 274.1346597046867, + -1343.5523952263784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 272.6346597046867, + -1340.954319015025, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 271.1346597046867, + -1338.3562428036716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 269.6346597046867, + -1335.7581665923183, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-9-16_628257755/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-9-16_628257755/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0a43cca8b1819848fadef8f594d7d7a474839af1 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-9-16_628257755/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -812.7984094331744, + -1958.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -809.7984094331744, + -1958.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -806.7984094331744, + -1958.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -803.7984094331744, + -1958.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -800.7984094331744, + -1958.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -797.7984094331744, + -1958.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -794.7984094331744, + -1958.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -791.7984094331744, + -1958.3503468613899, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -791.7984094331744, + -1958.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -789.200333221821, + -1956.8503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -786.6022570104676, + -1955.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -784.0041807991142, + -1953.8503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -781.4061045877609, + -1952.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -778.8080283764075, + -1950.8503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -776.2099521650541, + -1949.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -773.6118759537007, + -1947.8503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -771.0137997423474, + -1946.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -768.415723530994, + -1944.8503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -765.8176473196406, + -1943.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -763.2195711082873, + -1941.8503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -760.6214948969339, + -1940.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -758.0234186855805, + -1938.8503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -755.4253424742271, + -1937.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -752.8272662628738, + -1935.8503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -750.2291900515204, + -1934.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -747.631113840167, + -1932.8503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -745.0330376288136, + -1931.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -742.4349614174603, + -1929.8503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -739.8368852061069, + -1928.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -737.2388089947535, + -1926.8503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -734.6407327834002, + -1925.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -732.0426565720468, + -1923.8503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -729.4445803606934, + -1922.3503468613899, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -729.4445803606934, + -1922.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -726.4445803606934, + -1922.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -723.4445803606934, + -1922.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -720.4445803606934, + -1922.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -717.4445803606934, + -1922.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -714.4445803606934, + -1922.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -711.4445803606934, + -1922.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -708.4445803606934, + -1922.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -705.4445803606934, + -1922.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -702.4445803606934, + -1922.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -699.4445803606934, + -1922.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -696.4445803606934, + -1922.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -693.4445803606934, + -1922.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -690.4445803606934, + -1922.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -687.4445803606934, + -1922.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -684.4445803606934, + -1922.3503468613899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -681.4445803606934, + -1922.3503468613899, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-1-16_1215387142/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-1-16_1215387142/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..df1237549c1004a42657fcd91485a40a95fbfb6c --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-1-16_1215387142/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 399.59686287090585, + -1373.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 396.59686287090585, + -1373.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 393.59686287090585, + -1373.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 390.59686287090585, + -1373.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 387.59686287090585, + -1373.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 384.59686287090585, + -1373.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 381.59686287090585, + -1373.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 378.59686287090585, + -1373.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 375.59686287090585, + -1373.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 372.59686287090585, + -1373.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 369.59686287090585, + -1373.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 366.59686287090585, + -1373.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 363.59686287090585, + -1373.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 360.59686287090585, + -1373.7343038720405, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 360.59686287090585, + -1373.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 357.99878665955254, + -1375.2343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 355.4007104481992, + -1376.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 352.8026342368459, + -1378.2343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 350.2045580254926, + -1379.7343038720405, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 350.2045580254926, + -1379.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 347.2045580254926, + -1379.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 344.2045580254926, + -1379.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 341.2045580254926, + -1379.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 338.2045580254926, + -1379.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 335.2045580254926, + -1379.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 332.2045580254926, + -1379.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 329.2045580254926, + -1379.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 326.2045580254926, + -1379.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 323.2045580254926, + -1379.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 320.2045580254926, + -1379.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 317.2045580254926, + -1379.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 314.2045580254926, + -1379.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 311.2045580254926, + -1379.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 308.2045580254926, + -1379.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 305.2045580254926, + -1379.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 302.2045580254926, + -1379.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 299.2045580254926, + -1379.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 296.2045580254926, + -1379.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 293.2045580254926, + -1379.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 290.2045580254926, + -1379.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 287.2045580254926, + -1379.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 284.2045580254926, + -1379.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 281.2045580254926, + -1379.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 278.2045580254926, + -1379.7343038720405, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 278.2045580254926, + -1379.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 275.6064818141393, + -1378.2343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 273.00840560278596, + -1376.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 270.41032939143264, + -1375.2343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 267.8122531800793, + -1373.7343038720405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 265.214176968726, + -1372.2343038720405, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-12-0_2042830296/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-12-0_2042830296/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..90fd0406b370fdbfd7c4c0fdbbeebb990570a3c4 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-12-0_2042830296/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 310.3708852247994, + -1454.6500727254522, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 308.8708852247994, + -1452.0519965140988, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 307.3708852247994, + -1449.4539203027455, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 305.8708852247994, + -1446.855844091392, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 304.3708852247994, + -1444.2577678800387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 302.8708852247994, + -1441.6596916686854, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 301.3708852247994, + -1439.061615457332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 299.8708852247994, + -1436.4635392459786, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 298.3708852247994, + -1433.8654630346252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 296.8708852247994, + -1431.2673868232719, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 295.3708852247994, + -1428.6693106119185, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 293.8708852247994, + -1426.0712344005651, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 292.3708852247994, + -1423.4731581892117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 290.8708852247994, + -1420.8750819778584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 289.3708852247994, + -1418.277005766505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 287.8708852247994, + -1415.6789295551516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 286.3708852247994, + -1413.0808533437983, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 284.8708852247994, + -1410.4827771324449, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 283.3708852247994, + -1407.8847009210915, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 281.8708852247994, + -1405.2866247097381, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 280.3708852247994, + -1402.6885484983848, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 278.8708852247994, + -1400.0904722870314, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 277.3708852247994, + -1397.492396075678, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 275.8708852247994, + -1394.8943198643246, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 274.3708852247994, + -1392.2962436529713, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 272.8708852247994, + -1389.698167441618, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 271.3708852247994, + -1387.1000912302645, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 269.8708852247994, + -1384.5020150189112, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 268.3708852247994, + -1381.9039388075578, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 266.8708852247994, + -1379.3058625962044, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 265.3708852247994, + -1376.707786384851, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 263.8708852247994, + -1374.1097101734977, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 263.8708852247994, + -1374.1097101734977, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 263.8708852247994, + -1371.1097101734977, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 263.8708852247994, + -1368.1097101734977, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 263.8708852247994, + -1365.1097101734977, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 263.8708852247994, + -1362.1097101734977, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 263.8708852247994, + -1359.1097101734977, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 263.8708852247994, + -1356.1097101734977, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 263.8708852247994, + -1353.1097101734977, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 263.8708852247994, + -1350.1097101734977, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 263.8708852247994, + -1350.1097101734977, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 263.8708852247994, + -1350.1097101734977, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 261.2728090134461, + -1348.6097101734977, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 258.67473280209276, + -1347.1097101734977, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 256.07665659073945, + -1345.6097101734977, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 256.07665659073945, + -1345.6097101734977, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 254.57665659073945, + -1343.0116339621443, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 253.07665659073945, + -1340.413557750791, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-12-27_955798986/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-12-27_955798986/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7738085c15839eb79fff91a06f0c6b1b94a0916c --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-12-27_955798986/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -106.11322980827173, + -1403.63823744978, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -107.61322980827173, + -1406.2363136611334, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -109.11322980827173, + -1408.8343898724868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -110.61322980827173, + -1411.4324660838402, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -112.11322980827173, + -1414.0305422951935, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -113.61322980827173, + -1416.628618506547, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -115.11322980827173, + -1419.2266947179003, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -116.61322980827173, + -1421.8247709292536, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -118.11322980827173, + -1424.422847140607, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -119.61322980827173, + -1427.0209233519604, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -121.11322980827173, + -1429.6189995633138, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -122.61322980827173, + -1432.2170757746671, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -124.11322980827173, + -1434.8151519860205, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -125.61322980827173, + -1437.4132281973739, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -127.11322980827173, + -1440.0113044087273, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -128.6132298082717, + -1442.6093806200806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393182 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -130.1132298082717, + -1445.207456831434, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -131.6132298082717, + -1447.8055330427874, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -133.1132298082717, + -1450.4036092541407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -134.6132298082717, + -1453.0016854654941, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -136.1132298082717, + -1455.5997616768475, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -137.6132298082717, + -1458.1978378882009, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -139.1132298082717, + -1460.7959140995542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -140.6132298082717, + -1463.3939903109076, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -142.1132298082717, + -1465.992066522261, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -143.6132298082717, + -1468.5901427336144, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -145.1132298082717, + -1471.1882189449677, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -146.6132298082717, + -1473.786295156321, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -148.1132298082717, + -1476.3843713676745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -149.6132298082717, + -1478.9824475790278, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -151.1132298082717, + -1481.5805237903812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -152.6132298082717, + -1484.1786000017346, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -154.1132298082717, + -1486.776676213088, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -155.6132298082717, + -1489.3747524244413, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -157.1132298082717, + -1491.9728286357947, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -158.6132298082717, + -1494.570904847148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -160.1132298082717, + -1497.1689810585015, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -161.6132298082717, + -1499.7670572698548, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -163.1132298082717, + -1502.3651334812082, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -163.1132298082717, + -1502.3651334812082, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -163.1132298082717, + -1505.3651334812082, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -163.1132298082717, + -1508.3651334812082, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -163.1132298082717, + -1511.3651334812082, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -163.1132298082717, + -1514.3651334812082, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -163.1132298082717, + -1517.3651334812082, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -163.1132298082717, + -1520.3651334812082, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-12-51_791251530/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-12-51_791251530/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..321d9dfd5b2e34b49f4c4cc588e4b6dba120a0cc --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-12-51_791251530/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -53.315386591014956, + -1793.975317190172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -51.815386591014956, + -1791.3772409788187, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -50.315386591014956, + -1788.7791647674653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -48.815386591014956, + -1786.181088556112, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -47.315386591014956, + -1783.5830123447586, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -45.815386591014956, + -1780.9849361334052, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -44.315386591014956, + -1778.3868599220518, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -42.815386591014956, + -1775.7887837106985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -41.315386591014956, + -1773.190707499345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -39.815386591014956, + -1770.5926312879917, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -38.315386591014956, + -1767.9945550766383, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -36.815386591014956, + -1765.396478865285, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -35.315386591014956, + -1762.7984026539316, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -33.815386591014956, + -1760.2003264425782, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -33.815386591014956, + -1760.2003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -31.21731037966164, + -1758.7003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -28.619234168308324, + -1757.2003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -26.021157956955008, + -1755.7003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -23.423081745601692, + -1754.2003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -20.825005534248376, + -1752.7003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -18.22692932289506, + -1751.2003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -15.628853111541744, + -1749.7003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -13.030776900188428, + -1748.2003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -10.432700688835112, + -1746.7003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -7.834624477481796, + -1745.2003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -5.23654826612848, + -1743.7003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2.638472054775164, + -1742.2003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -0.0403958434218481, + -1740.7003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2.557680367931468, + -1739.2003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 5.155756579284784, + -1737.7003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 7.7538327906381, + -1736.2003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 10.351909001991416, + -1734.7003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 12.949985213344732, + -1733.2003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 15.548061424698048, + -1731.7003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 18.146137636051364, + -1730.2003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 20.74421384740468, + -1728.7003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 23.342290058757996, + -1727.2003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 25.940366270111312, + -1725.7003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 28.538442481464628, + -1724.2003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 31.136518692817944, + -1722.7003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 33.73459490417126, + -1721.2003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 36.332671115524576, + -1719.7003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 38.93074732687789, + -1718.2003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 41.52882353823121, + -1716.7003264425782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 44.126899749584524, + -1715.2003264425782, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-16-9_2070707654/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-16-9_2070707654/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad772a8b0145c5916dad4bdd8316b1248a908b32 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-16-9_2070707654/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 394.059434540142, + -1355.7648805966621, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 391.46135832878866, + -1357.2648805966621, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 391.46135832878866, + -1357.2648805966621, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 389.96135832878866, + -1359.8629568080155, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 389.96135832878866, + -1359.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 387.36328211743535, + -1361.3629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 384.76520590608203, + -1362.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 382.1671296947287, + -1364.3629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 379.5690534833754, + -1365.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 376.9709772720221, + -1367.3629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 374.37290106066877, + -1368.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 371.77482484931545, + -1370.3629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 369.17674863796213, + -1371.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 366.5786724266088, + -1373.3629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 363.9805962152555, + -1374.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 361.3825200039022, + -1376.3629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 358.78444379254887, + -1377.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 356.18636758119555, + -1379.3629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 353.58829136984224, + -1380.8629568080155, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 353.58829136984224, + -1380.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 350.58829136984224, + -1380.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 347.58829136984224, + -1380.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 344.58829136984224, + -1380.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 341.58829136984224, + -1380.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 338.58829136984224, + -1380.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 335.58829136984224, + -1380.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 332.58829136984224, + -1380.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 329.58829136984224, + -1380.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 326.58829136984224, + -1380.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 323.58829136984224, + -1380.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 320.58829136984224, + -1380.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 317.58829136984224, + -1380.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 314.58829136984224, + -1380.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 311.58829136984224, + -1380.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 308.58829136984224, + -1380.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 305.58829136984224, + -1380.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 302.58829136984224, + -1380.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 299.58829136984224, + -1380.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 296.58829136984224, + -1380.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 293.58829136984224, + -1380.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 290.58829136984224, + -1380.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 287.58829136984224, + -1380.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 284.58829136984224, + -1380.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 281.58829136984224, + -1380.8629568080155, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 281.58829136984224, + -1380.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 278.9902151584889, + -1379.3629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 276.3921389471356, + -1377.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 273.7940627357823, + -1376.3629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 271.195986524429, + -1374.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 268.59791031307566, + -1373.3629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 265.99983410172234, + -1371.8629568080155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 263.401757890369, + -1370.3629568080155, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-23-49_1454580282/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-23-49_1454580282/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bd3c4e23e6fa46b4383abb633f415749d5326b36 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-23-49_1454580282/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -699.1871397174439, + -1785.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -699.1871397174439, + -1788.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -699.1871397174439, + -1791.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -699.1871397174439, + -1794.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -699.1871397174439, + -1797.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -699.1871397174439, + -1800.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -699.1871397174439, + -1803.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -699.1871397174439, + -1806.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -699.1871397174439, + -1809.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -699.1871397174439, + -1812.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -699.1871397174439, + -1815.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -699.1871397174439, + -1818.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -699.1871397174439, + -1821.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -699.1871397174439, + -1824.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -699.1871397174439, + -1827.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -699.1871397174439, + -1830.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -699.1871397174439, + -1833.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -699.1871397174439, + -1836.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -699.1871397174439, + -1839.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -699.1871397174439, + -1842.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -699.1871397174439, + -1845.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -699.1871397174439, + -1848.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -699.1871397174439, + -1851.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -699.1871397174439, + -1854.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -699.1871397174439, + -1857.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -699.1871397174439, + -1860.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -699.1871397174439, + -1863.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -699.1871397174439, + -1866.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -699.1871397174439, + -1869.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -699.1871397174439, + -1872.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -699.1871397174439, + -1875.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -699.1871397174439, + -1878.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -699.1871397174439, + -1881.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -699.1871397174439, + -1884.991784504853, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -699.1871397174439, + -1884.991784504853, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -699.1871397174439, + -1884.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -701.7852159287972, + -1886.491784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -704.3832921401506, + -1887.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -706.981368351504, + -1889.491784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -709.5794445628574, + -1890.991784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -712.1775207742107, + -1892.491784504853, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -712.1775207742107, + -1892.491784504853, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -712.1775207742107, + -1892.491784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794906 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -712.1775207742107, + -1895.491784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -712.1775207742107, + -1898.491784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -712.1775207742107, + -1901.491784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -712.1775207742107, + -1904.491784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -712.1775207742107, + -1907.491784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -712.1775207742107, + -1910.491784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -712.1775207742107, + -1913.491784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -712.1775207742107, + -1916.491784504853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -712.1775207742107, + -1919.491784504853, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -712.0, + -1940.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-26-4_1410681417/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-26-4_1410681417/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..50df40c053c5bd5fb49eae05e3582ab49f77cbf0 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-26-4_1410681417/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -61.217141563262885, + -1810.4634000076035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -58.61906535190957, + -1808.9634000076035, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -58.61906535190957, + -1808.9634000076035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -57.11906535190957, + -1806.36532379625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -55.61906535190957, + -1803.7672475848967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -54.11906535190957, + -1801.1691713735433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -52.61906535190957, + -1798.57109516219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -51.11906535190957, + -1795.9730189508366, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -49.61906535190957, + -1793.3749427394832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -48.11906535190957, + -1790.7768665281299, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -46.61906535190957, + -1788.1787903167765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -45.11906535190957, + -1785.580714105423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -43.61906535190957, + -1782.9826378940697, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -42.11906535190957, + -1780.3845616827164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -40.61906535190957, + -1777.786485471363, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -39.11906535190957, + -1775.1884092600096, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -37.61906535190957, + -1772.5903330486562, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -36.11906535190957, + -1769.9922568373029, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -34.61906535190957, + -1767.3941806259495, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -33.11906535190957, + -1764.7961044145961, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -31.61906535190957, + -1762.1980282032428, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -30.11906535190957, + -1759.5999519918894, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -30.11906535190957, + -1759.5999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -27.520989140556253, + -1758.0999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -24.922912929202937, + -1756.5999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -22.32483671784962, + -1755.0999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -19.726760506496305, + -1753.5999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -17.12868429514299, + -1752.0999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -14.530608083789673, + -1750.5999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -11.932531872436357, + -1749.0999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -9.334455661083041, + -1747.5999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -6.736379449729725, + -1746.0999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -4.138303238376409, + -1744.5999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1.5402270270230929, + -1743.0999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1.0578491843302231, + -1741.5999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3.655925395683539, + -1740.0999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 6.254001607036855, + -1738.5999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 8.852077818390171, + -1737.0999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 11.450154029743487, + -1735.5999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 14.048230241096803, + -1734.0999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 16.64630645245012, + -1732.5999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 19.244382663803435, + -1731.0999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 21.84245887515675, + -1729.5999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 24.440535086510067, + -1728.0999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 27.038611297863383, + -1726.5999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 29.6366875092167, + -1725.0999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 32.234763720570015, + -1723.5999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 34.83283993192333, + -1722.0999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 37.43091614327665, + -1720.5999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 40.02899235462996, + -1719.0999519918894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 42.62706856598328, + -1717.5999519918894, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-27-27_54449299/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-27-27_54449299/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04f7a020a44afc7b38dc30c9b9744294c7cded97 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-27-27_54449299/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 380.212330230203, + -1322.0264858528876, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 382.8104064415563, + -1320.5264858528876, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 385.40848265290964, + -1319.0264858528876, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 388.00655886426296, + -1317.5264858528876, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 390.6046350756163, + -1316.0264858528876, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 393.2027112869696, + -1314.5264858528876, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 395.8007874983229, + -1313.0264858528876, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 398.3988637096762, + -1311.5264858528876, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 400.99693992102954, + -1310.0264858528876, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 403.59501613238285, + -1308.5264858528876, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 406.19309234373617, + -1307.0264858528876, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 408.7911685550895, + -1305.5264858528876, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 408.7911685550895, + -1305.5264858528876, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 410.2911685550895, + -1302.9284096415342, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 411.7911685550895, + -1300.3303334301809, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 413.2911685550895, + -1297.7322572188275, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 414.7911685550895, + -1295.1341810074741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 416.2911685550895, + -1292.5361047961208, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 416.2911685550895, + -1292.5361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 418.8892447664428, + -1291.0361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 421.4873209777961, + -1289.5361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 424.08539718914943, + -1288.0361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 426.68347340050275, + -1286.5361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 429.28154961185606, + -1285.0361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 431.8796258232094, + -1283.5361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 434.4777020345627, + -1282.0361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 437.075778245916, + -1280.5361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 439.67385445726933, + -1279.0361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 442.27193066862264, + -1277.5361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 444.87000687997596, + -1276.0361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 447.4680830913293, + -1274.5361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 450.0661593026826, + -1273.0361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 452.6642355140359, + -1271.5361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 455.2623117253892, + -1270.0361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 457.86038793674254, + -1268.5361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 460.45846414809586, + -1267.0361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 463.0565403594492, + -1265.5361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 465.6546165708025, + -1264.0361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 468.2526927821558, + -1262.5361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 470.8507689935091, + -1261.0361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 473.44884520486244, + -1259.5361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 476.04692141621575, + -1258.0361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 478.64499762756907, + -1256.5361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 481.2430738389224, + -1255.0361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 483.8411500502757, + -1253.5361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 486.439226261629, + -1252.0361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 489.03730247298233, + -1250.5361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 491.63537868433565, + -1249.0361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 494.23345489568896, + -1247.5361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 496.8315311070423, + -1246.0361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 499.4296073183956, + -1244.5361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 502.0276835297489, + -1243.0361047961208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 504.62575974110223, + -1241.5361047961208, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-28-51_1049546350/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-28-51_1049546350/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..86f165abdeda7a5250af774978a6bee50a0d301f --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-28-51_1049546350/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -92.62375377452484, + -1409.1177344766215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -94.12375377452484, + -1411.715810687975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -95.62375377452484, + -1414.3138868993283, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -97.12375377452484, + -1416.9119631106817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -98.62375377452484, + -1419.510039322035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -100.12375377452484, + -1422.1081155333884, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -101.62375377452484, + -1424.7061917447418, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -103.12375377452484, + -1427.3042679560951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -104.62375377452484, + -1429.9023441674485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -106.12375377452484, + -1432.500420378802, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -107.62375377452484, + -1435.0984965901553, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -109.12375377452484, + -1437.6965728015086, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -110.62375377452484, + -1440.294649012862, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -112.12375377452484, + -1442.8927252242154, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -112.12375377452484, + -1442.8927252242154, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -114.72182998587816, + -1444.3927252242154, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -117.31990619723148, + -1445.8927252242154, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -119.91798240858479, + -1447.3927252242154, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -122.51605861993811, + -1448.8927252242154, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -125.11413483129142, + -1450.3927252242154, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -127.71221104264474, + -1451.8927252242154, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -130.31028725399807, + -1453.3927252242154, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -132.90836346535139, + -1454.8927252242154, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -135.5064396767047, + -1456.3927252242154, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -138.10451588805802, + -1457.8927252242154, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -140.70259209941133, + -1459.3927252242154, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -140.70259209941133, + -1459.3927252242154, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -142.20259209941133, + -1461.9908014355688, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -143.70259209941133, + -1464.5888776469221, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -145.20259209941133, + -1467.1869538582755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -146.70259209941133, + -1469.7850300696289, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -148.20259209941133, + -1472.3831062809822, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -149.70259209941133, + -1474.9811824923356, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -151.20259209941133, + -1477.579258703689, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -152.70259209941133, + -1480.1773349150424, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -154.20259209941133, + -1482.7754111263957, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -155.70259209941133, + -1485.373487337749, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -157.20259209941133, + -1487.9715635491025, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -158.70259209941133, + -1490.5696397604559, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -160.20259209941133, + -1493.1677159718092, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -161.70259209941133, + -1495.7657921831626, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -163.20259209941133, + -1498.363868394516, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -163.20259209941133, + -1498.363868394516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -163.20259209941133, + -1501.363868394516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -163.20259209941133, + -1504.363868394516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -163.20259209941133, + -1507.363868394516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -163.20259209941133, + -1510.363868394516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -163.20259209941133, + -1513.363868394516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -163.20259209941133, + -1516.363868394516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -163.20259209941133, + -1519.363868394516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -163.20259209941133, + -1522.363868394516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -163.20259209941133, + -1525.363868394516, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-30-49_2057337242/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-30-49_2057337242/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0dd03ddd47ce4c1750d08958943b4bbe0b6887fe --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-30-49_2057337242/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -179.76911869422457, + -1592.1673400066447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -182.76911869422457, + -1592.1673400066447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -185.76911869422457, + -1592.1673400066447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -188.76911869422457, + -1592.1673400066447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -191.76911869422457, + -1592.1673400066447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -194.76911869422457, + -1592.1673400066447, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -194.76911869422457, + -1592.1673400066447, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -194.76911869422457, + -1592.1673400066447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -196.26911869422457, + -1589.5692637952914, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -197.76911869422457, + -1586.971187583938, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -199.26911869422457, + -1584.3731113725846, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -200.76911869422457, + -1581.7750351612312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -202.26911869422457, + -1579.1769589498779, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -203.76911869422457, + -1576.5788827385245, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -205.26911869422457, + -1573.9808065271711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -206.76911869422457, + -1571.3827303158178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -208.26911869422457, + -1568.7846541044644, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -209.76911869422457, + -1566.186577893111, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -211.26911869422457, + -1563.5885016817576, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -212.76911869422457, + -1560.9904254704043, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -214.26911869422457, + -1558.392349259051, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -215.76911869422457, + -1555.7942730476975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -217.26911869422457, + -1553.1961968363441, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -218.76911869422457, + -1550.5981206249908, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -220.26911869422457, + -1548.0000444136374, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -221.76911869422457, + -1545.401968202284, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -223.26911869422457, + -1542.8038919909307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -224.76911869422457, + -1540.2058157795773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -226.26911869422457, + -1537.607739568224, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -227.76911869422457, + -1535.0096633568705, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -229.26911869422457, + -1532.4115871455172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -230.76911869422457, + -1529.8135109341638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -232.26911869422457, + -1527.2154347228104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -233.76911869422457, + -1524.617358511457, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -235.26911869422457, + -1522.0192823001037, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -236.76911869422457, + -1519.4212060887503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -238.26911869422457, + -1516.823129877397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -239.76911869422457, + -1514.2250536660436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -241.26911869422457, + -1511.6269774546902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -242.76911869422457, + -1509.0289012433368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -244.26911869422457, + -1506.4308250319834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -245.76911869422457, + -1503.83274882063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -247.26911869422457, + -1501.2346726092767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -248.76911869422457, + -1498.6365963979233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -250.26911869422457, + -1496.03852018657, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -251.76911869422457, + -1493.4404439752166, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -251.76911869422457, + -1493.4404439752166, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -251.76911869422457, + -1490.4404439752166, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -251.76911869422457, + -1487.4404439752166, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -251.76911869422457, + -1484.4404439752166, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -251.76911869422457, + -1481.4404439752166, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-7-2_576279545/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-7-2_576279545/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04a80d7be3642b425e9fc2f752c765bc1afae365 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-7-2_576279545/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 395.48510852970173, + -1340.8009324891186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 396.98510852970173, + -1338.2028562777652, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 398.48510852970173, + -1335.6047800664119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 399.98510852970173, + -1333.0067038550585, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 401.48510852970173, + -1330.4086276437051, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 402.98510852970173, + -1327.8105514323518, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 404.48510852970173, + -1325.2124752209984, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 405.98510852970173, + -1322.614399009645, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 407.48510852970173, + -1320.0163227982916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 408.98510852970173, + -1317.4182465869383, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 410.48510852970173, + -1314.820170375585, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 411.98510852970173, + -1312.2220941642315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 413.48510852970173, + -1309.6240179528781, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 413.48510852970173, + -1309.6240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 413.48510852970173, + -1306.6240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 413.48510852970173, + -1303.6240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 413.48510852970173, + -1300.6240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 413.48510852970173, + -1297.6240179528781, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 413.48510852970173, + -1297.6240179528781, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 413.48510852970173, + -1297.6240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 416.08318474105505, + -1296.1240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 418.68126095240837, + -1294.6240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 421.2793371637617, + -1293.1240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 423.877413375115, + -1291.6240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 426.4754895864683, + -1290.1240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 429.07356579782163, + -1288.6240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 431.67164200917495, + -1287.1240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 434.26971822052826, + -1285.6240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 436.8677944318816, + -1284.1240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 439.4658706432349, + -1282.6240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 442.0639468545882, + -1281.1240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 444.6620230659415, + -1279.6240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 447.26009927729484, + -1278.1240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 449.85817548864816, + -1276.6240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 452.4562517000015, + -1275.1240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 455.0543279113548, + -1273.6240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 457.6524041227081, + -1272.1240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 460.2504803340614, + -1270.6240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 462.84855654541474, + -1269.1240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 465.44663275676805, + -1267.6240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 468.04470896812137, + -1266.1240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 470.6427851794747, + -1264.6240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 473.240861390828, + -1263.1240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 475.8389376021813, + -1261.6240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 478.43701381353463, + -1260.1240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 481.03509002488795, + -1258.6240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 483.63316623624127, + -1257.1240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 486.2312424475946, + -1255.6240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 488.8293186589479, + -1254.1240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 491.4273948703012, + -1252.6240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 494.02547108165453, + -1251.1240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 496.62354729300785, + -1249.6240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 499.22162350436116, + -1248.1240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 501.8196997157145, + -1246.6240179528781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 504.4177759270678, + -1245.1240179528781, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-53-11_738647283/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-53-11_738647283/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..555e8c0a8d8335c211bf9ffc6b4aa5ad9e85cedd --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-53-11_738647283/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -291.5071507261997, + -1432.695674880157, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -290.0071507261997, + -1435.2937510915103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -288.5071507261997, + -1437.8918273028637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -287.0071507261997, + -1440.489903514217, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -285.5071507261997, + -1443.0879797255704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -284.0071507261997, + -1445.6860559369238, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -282.5071507261997, + -1448.2841321482772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -281.0071507261997, + -1450.8822083596306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -279.5071507261997, + -1453.480284570984, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -278.0071507261997, + -1456.0783607823373, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -276.5071507261997, + -1458.6764369936907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -275.0071507261997, + -1461.274513205044, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -273.5071507261997, + -1463.8725894163974, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -272.0071507261997, + -1466.4706656277508, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -270.5071507261997, + -1469.0687418391042, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -269.0071507261997, + -1471.6668180504576, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -267.5071507261997, + -1474.264894261811, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -266.0071507261997, + -1476.8629704731643, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -264.5071507261997, + -1479.4610466845177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -263.0071507261997, + -1482.059122895871, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -261.5071507261997, + -1484.6571991072244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -260.0071507261997, + -1487.2552753185778, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -258.5071507261997, + -1489.8533515299312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -257.0071507261997, + -1492.4514277412845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -255.5071507261997, + -1495.049503952638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -254.0071507261997, + -1497.6475801639913, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -252.5071507261997, + -1500.2456563753447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -251.0071507261997, + -1502.843732586698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -249.5071507261997, + -1505.4418087980514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -248.0071507261997, + -1508.0398850094048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -246.5071507261997, + -1510.6379612207581, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -246.5071507261997, + -1510.6379612207581, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -243.9090745148464, + -1512.1379612207581, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -241.31099830349308, + -1513.6379612207581, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -238.71292209213976, + -1515.1379612207581, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -236.11484588078645, + -1516.6379612207581, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -233.51676966943313, + -1518.1379612207581, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -230.91869345807982, + -1519.6379612207581, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -228.3206172467265, + -1521.1379612207581, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -225.72254103537318, + -1522.6379612207581, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -223.12446482401987, + -1524.1379612207581, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -220.52638861266655, + -1525.6379612207581, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -217.92831240131324, + -1527.1379612207581, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -215.33023618995992, + -1528.6379612207581, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -212.7321599786066, + -1530.1379612207581, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -210.1340837672533, + -1531.6379612207581, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -207.53600755589997, + -1533.1379612207581, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -204.93793134454666, + -1534.6379612207581, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -202.33985513319334, + -1536.1379612207581, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -199.74177892184002, + -1537.6379612207581, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -197.1437027104867, + -1539.1379612207581, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -194.5456264991334, + -1540.6379612207581, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -191.94755028778007, + -1542.1379612207581, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-53-43_772970072/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-53-43_772970072/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9176b478a330661666ab06e54e40733e86c846ed --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-53-43_772970072/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -804.9097688626304, + -1954.9864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -801.9097688626304, + -1954.9864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -798.9097688626304, + -1954.9864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -795.9097688626304, + -1954.9864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -792.9097688626304, + -1954.9864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -789.9097688626304, + -1954.9864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -786.9097688626304, + -1954.9864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -783.9097688626304, + -1954.9864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -780.9097688626304, + -1954.9864094998725, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -780.9097688626304, + -1954.9864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -778.3116926512771, + -1953.4864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -775.7136164399237, + -1951.9864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -773.1155402285704, + -1950.4864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -770.517464017217, + -1948.9864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -767.9193878058636, + -1947.4864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -765.3213115945102, + -1945.9864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -762.7232353831569, + -1944.4864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -760.1251591718035, + -1942.9864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -757.5270829604501, + -1941.4864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -754.9290067490967, + -1939.9864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -752.3309305377434, + -1938.4864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -749.73285432639, + -1936.9864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -747.1347781150366, + -1935.4864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -744.5367019036833, + -1933.9864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -741.9386256923299, + -1932.4864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -739.3405494809765, + -1930.9864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -736.7424732696231, + -1929.4864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -734.1443970582698, + -1927.9864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -731.5463208469164, + -1926.4864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -728.948244635563, + -1924.9864094998725, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -728.948244635563, + -1924.9864094998725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -727.448244635563, + -1922.388333288519, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -727.448244635563, + -1922.388333288519, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -727.448244635563, + -1922.388333288519, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -724.448244635563, + -1922.388333288519, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -721.448244635563, + -1922.388333288519, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -718.448244635563, + -1922.388333288519, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -715.448244635563, + -1922.388333288519, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -712.448244635563, + -1922.388333288519, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -709.448244635563, + -1922.388333288519, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -706.448244635563, + -1922.388333288519, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -703.448244635563, + -1922.388333288519, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -700.448244635563, + -1922.388333288519, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -697.448244635563, + -1922.388333288519, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -694.448244635563, + -1922.388333288519, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -691.448244635563, + -1922.388333288519, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -688.448244635563, + -1922.388333288519, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -685.448244635563, + -1922.388333288519, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -682.448244635563, + -1922.388333288519, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-54-12_94307398/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-54-12_94307398/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7c8aa928f87babc123949f0565b576503b580b64 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-54-12_94307398/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 275.5204831673507, + -1466.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 275.5204831673507, + -1463.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 275.5204831673507, + -1460.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 275.5204831673507, + -1457.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 275.5204831673507, + -1454.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 275.5204831673507, + -1451.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 275.5204831673507, + -1448.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 275.5204831673507, + -1445.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 275.5204831673507, + -1442.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 275.5204831673507, + -1439.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 275.5204831673507, + -1436.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 275.5204831673507, + -1433.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 275.5204831673507, + -1430.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 275.5204831673507, + -1427.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 275.5204831673507, + -1424.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 275.5204831673507, + -1421.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 275.5204831673507, + -1418.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 275.5204831673507, + -1415.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 275.5204831673507, + -1412.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 275.5204831673507, + -1409.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 275.5204831673507, + -1406.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 275.5204831673507, + -1403.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 275.5204831673507, + -1400.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 275.5204831673507, + -1397.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 275.5204831673507, + -1394.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 275.5204831673507, + -1391.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 275.5204831673507, + -1388.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 275.5204831673507, + -1385.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 275.5204831673507, + -1382.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 275.5204831673507, + -1379.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 275.5204831673507, + -1376.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 275.5204831673507, + -1373.9216375701812, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 275.5204831673507, + -1373.9216375701812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 274.0204831673507, + -1371.3235613588279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 272.5204831673507, + -1368.7254851474745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 271.0204831673507, + -1366.1274089361211, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 269.5204831673507, + -1363.5293327247678, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 268.0204831673507, + -1360.9312565134144, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 266.5204831673507, + -1358.333180302061, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 265.0204831673507, + -1355.7351040907076, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 263.5204831673507, + -1353.1370278793543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 262.0204831673507, + -1350.538951668001, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 260.5204831673507, + -1347.9408754566475, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 259.0204831673507, + -1345.3427992452941, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 259.0204831673507, + -1345.3427992452941, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 256.42240695599736, + -1343.8427992452941, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 253.82433074464404, + -1342.3427992452941, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 251.22625453329073, + -1340.8427992452941, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 248.6281783219374, + -1339.3427992452941, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 246.0301021105841, + -1337.8427992452941, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-56-40_1520982030/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-56-40_1520982030/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..46ec193f725e0c5e61a09deecdd93712300f1eb2 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-56-40_1520982030/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -145.6902415892657, + -1576.2202639067275, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -147.1902415892657, + -1573.6221876953741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -148.6902415892657, + -1571.0241114840208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -150.1902415892657, + -1568.4260352726674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -151.6902415892657, + -1565.827959061314, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -153.1902415892657, + -1563.2298828499606, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -154.6902415892657, + -1560.6318066386073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -156.1902415892657, + -1558.0337304272539, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -157.6902415892657, + -1555.4356542159005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -159.1902415892657, + -1552.8375780045471, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -160.6902415892657, + -1550.2395017931938, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -162.1902415892657, + -1547.6414255818404, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -163.6902415892657, + -1545.043349370487, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -165.1902415892657, + -1542.4452731591336, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -166.6902415892657, + -1539.8471969477803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -168.1902415892657, + -1537.249120736427, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -169.6902415892657, + -1534.6510445250735, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -171.1902415892657, + -1532.0529683137202, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -172.6902415892657, + -1529.4548921023668, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -174.1902415892657, + -1526.8568158910134, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -175.6902415892657, + -1524.25873967966, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -177.1902415892657, + -1521.6606634683067, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -178.6902415892657, + -1519.0625872569533, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -180.1902415892657, + -1516.4645110456, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -181.6902415892657, + -1513.8664348342465, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -183.1902415892657, + -1511.2683586228932, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -183.1902415892657, + -1511.2683586228932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -185.788317800619, + -1509.7683586228932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -188.38639401197233, + -1508.2683586228932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -190.98447022332564, + -1506.7683586228932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -193.58254643467896, + -1505.2683586228932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -196.18062264603228, + -1503.7683586228932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -198.7786988573856, + -1502.2683586228932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -201.3767750687389, + -1500.7683586228932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -203.97485128009222, + -1499.2683586228932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -206.57292749144554, + -1497.7683586228932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -209.17100370279886, + -1496.2683586228932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -211.76907991415217, + -1494.7683586228932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -214.3671561255055, + -1493.2683586228932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -216.9652323368588, + -1491.7683586228932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -219.56330854821212, + -1490.2683586228932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -222.16138475956544, + -1488.7683586228932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -224.75946097091875, + -1487.2683586228932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -227.35753718227207, + -1485.7683586228932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -229.95561339362538, + -1484.2683586228932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -232.5536896049787, + -1482.7683586228932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -235.15176581633202, + -1481.2683586228932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -237.74984202768533, + -1479.7683586228932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -240.34791823903865, + -1478.2683586228932, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-6-51_524133589/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-6-51_524133589/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5a7a115b52399e68643f123bde1990eb6ed66ea8 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-6-51_524133589/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -290.3300073764026, + -1421.7613974633023, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -288.8300073764026, + -1424.3594736746556, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -287.3300073764026, + -1426.957549886009, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -285.8300073764026, + -1429.5556260973624, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -284.3300073764026, + -1432.1537023087158, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -282.8300073764026, + -1434.7517785200691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -281.3300073764026, + -1437.3498547314225, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -279.8300073764026, + -1439.9479309427759, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -278.3300073764026, + -1442.5460071541293, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -276.8300073764026, + -1445.1440833654826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -275.3300073764026, + -1447.742159576836, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -275.3300073764026, + -1447.742159576836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -275.3300073764026, + -1450.742159576836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -275.3300073764026, + -1453.742159576836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -275.3300073764026, + -1456.742159576836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -275.3300073764026, + -1459.742159576836, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -275.3300073764026, + -1459.742159576836, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -275.3300073764026, + -1459.742159576836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -272.7319311650493, + -1461.242159576836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -270.13385495369596, + -1462.742159576836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -267.53577874234264, + -1464.242159576836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -264.9377025309893, + -1465.742159576836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -262.339626319636, + -1467.242159576836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -259.7415501082827, + -1468.742159576836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -257.1434738969294, + -1470.242159576836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -254.54539768557606, + -1471.742159576836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -251.94732147422275, + -1473.242159576836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -249.34924526286943, + -1474.742159576836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -246.75116905151611, + -1476.242159576836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -244.1530928401628, + -1477.742159576836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -241.55501662880948, + -1479.242159576836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -238.95694041745617, + -1480.742159576836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -236.35886420610285, + -1482.242159576836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -233.76078799474953, + -1483.742159576836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -231.16271178339622, + -1485.242159576836, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -231.16271178339622, + -1485.242159576836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -229.66271178339622, + -1487.8402357881894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -228.16271178339622, + -1490.4383119995427, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -226.66271178339622, + -1493.0363882108961, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -225.16271178339622, + -1495.6344644222495, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -223.66271178339622, + -1498.2325406336029, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -222.16271178339622, + -1500.8306168449562, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -220.66271178339622, + -1503.4286930563096, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -219.16271178339622, + -1506.026769267663, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -217.66271178339622, + -1508.6248454790164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -216.16271178339622, + -1511.2229216903697, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -214.66271178339622, + -1513.820997901723, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -213.16271178339622, + -1516.4190741130765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -211.66271178339622, + -1519.0171503244298, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -210.16271178339622, + -1521.6152265357832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -208.66271178339622, + -1524.2133027471366, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -207.16271178339622, + -1526.81137895849, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -205.66271178339622, + -1529.4094551698433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -204.16271178339622, + -1532.0075313811967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -202.66271178339622, + -1534.60560759255, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -202.66271178339622, + -1534.60560759255, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -200.0646355720429, + -1536.10560759255, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -197.4665593606896, + -1537.60560759255, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -194.86848314933627, + -1539.10560759255, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -192.27040693798295, + -1540.60560759255, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-7-26_1959343768/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-7-26_1959343768/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..91fc0d9d2d7b5d91ddd950b596d5213272c89f33 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-7-26_1959343768/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -155.00250293798507, + -1577.7833577014176, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -156.50250293798507, + -1575.1852814900642, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -158.00250293798507, + -1572.5872052787108, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -158.00250293798507, + -1572.5872052787108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -158.00250293798507, + -1569.5872052787108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -158.00250293798507, + -1566.5872052787108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -158.00250293798507, + -1563.5872052787108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -158.00250293798507, + -1560.5872052787108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -158.00250293798507, + -1557.5872052787108, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -158.00250293798507, + -1557.5872052787108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -159.50250293798507, + -1554.9891290673575, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -161.00250293798507, + -1552.391052856004, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -162.50250293798507, + -1549.7929766446507, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -164.00250293798507, + -1547.1949004332973, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -165.50250293798507, + -1544.596824221944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -167.00250293798507, + -1541.9987480105906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -168.50250293798507, + -1539.4006717992372, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -170.00250293798507, + -1536.8025955878838, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -171.50250293798507, + -1534.2045193765305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -173.00250293798507, + -1531.606443165177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -174.50250293798507, + -1529.0083669538237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -176.00250293798507, + -1526.4102907424704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -177.50250293798507, + -1523.812214531117, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -177.50250293798507, + -1523.812214531117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -180.1005791493384, + -1522.312214531117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -182.6986553606917, + -1520.812214531117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -185.29673157204502, + -1519.312214531117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -187.89480778339833, + -1517.812214531117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -190.49288399475165, + -1516.312214531117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -193.09096020610497, + -1514.812214531117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -195.68903641745828, + -1513.312214531117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -198.2871126288116, + -1511.812214531117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -200.88518884016491, + -1510.312214531117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -203.48326505151823, + -1508.812214531117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -206.08134126287155, + -1507.312214531117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -208.67941747422486, + -1505.812214531117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -211.27749368557818, + -1504.312214531117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -213.8755698969315, + -1502.812214531117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -216.4736461082848, + -1501.312214531117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -219.07172231963813, + -1499.812214531117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -221.66979853099144, + -1498.312214531117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -224.26787474234476, + -1496.812214531117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -226.86595095369807, + -1495.312214531117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -229.4640271650514, + -1493.812214531117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -232.0621033764047, + -1492.312214531117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -234.66017958775802, + -1490.812214531117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -237.25825579911134, + -1489.312214531117, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -237.25825579911134, + -1489.312214531117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -238.75825579911134, + -1486.7141383197636, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -240.25825579911134, + -1484.1160621084102, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -241.75825579911134, + -1481.5179858970569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -243.25825579911134, + -1478.9199096857035, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-7-54_1215828993/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-7-54_1215828993/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e6e4b5d0bd6075d27cb9f8f941c443b390da8465 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-7-54_1215828993/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -830.7567483235573, + -1944.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -827.7567483235573, + -1944.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -824.7567483235573, + -1944.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -821.7567483235573, + -1944.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -818.7567483235573, + -1944.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -815.7567483235573, + -1944.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -812.7567483235573, + -1944.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -809.7567483235573, + -1944.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -806.7567483235573, + -1944.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -803.7567483235573, + -1944.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -800.7567483235573, + -1944.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -797.7567483235573, + -1944.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -794.7567483235573, + -1944.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -791.7567483235573, + -1944.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -788.7567483235573, + -1944.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -785.7567483235573, + -1944.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -782.7567483235573, + -1944.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -779.7567483235573, + -1944.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -776.7567483235573, + -1944.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -773.7567483235573, + -1944.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -770.7567483235573, + -1944.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -767.7567483235573, + -1944.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -764.7567483235573, + -1944.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -761.7567483235573, + -1944.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -758.7567483235573, + -1944.1403897451237, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -758.7567483235573, + -1944.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -756.1586721122039, + -1942.6403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -753.5605959008506, + -1941.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -750.9625196894972, + -1939.6403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -748.3644434781438, + -1938.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -745.7663672667904, + -1936.6403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -743.1682910554371, + -1935.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -740.5702148440837, + -1933.6403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -737.9721386327303, + -1932.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -735.374062421377, + -1930.6403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -732.7759862100236, + -1929.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -730.1779099986702, + -1927.6403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -727.5798337873168, + -1926.1403897451237, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -727.5798337873168, + -1926.1403897451237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -726.0798337873168, + -1923.5423135337703, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -724.5798337873168, + -1920.944237322417, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -724.5798337873168, + -1920.944237322417, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -724.5798337873168, + -1920.944237322417, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -721.5798337873168, + -1920.944237322417, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -718.5798337873168, + -1920.944237322417, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -715.5798337873168, + -1920.944237322417, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -712.5798337873168, + -1920.944237322417, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -709.5798337873168, + -1920.944237322417, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -706.5798337873168, + -1920.944237322417, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -703.5798337873168, + -1920.944237322417, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -700.5798337873168, + -1920.944237322417, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -697.5798337873168, + -1920.944237322417, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -694.5798337873168, + -1920.944237322417, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -691.5798337873168, + -1920.944237322417, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -688.5798337873168, + -1920.944237322417, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -685.5798337873168, + -1920.944237322417, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -682.5798337873168, + -1920.944237322417, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-1-12_181271232/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-1-12_181271232/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8873c4417e880b405288a6e772d5300395babbea --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-1-12_181271232/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -939.598240084743, + -2766.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -939.598240084743, + -2769.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -939.598240084743, + -2772.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -939.598240084743, + -2775.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -939.598240084743, + -2778.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -939.598240084743, + -2781.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -939.598240084743, + -2784.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -939.598240084743, + -2787.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -939.598240084743, + -2790.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -939.598240084743, + -2793.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -939.598240084743, + -2796.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -939.598240084743, + -2799.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -939.598240084743, + -2802.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -939.598240084743, + -2805.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -939.598240084743, + -2808.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -939.598240084743, + -2811.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -939.598240084743, + -2814.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -939.598240084743, + -2817.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -939.598240084743, + -2820.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -939.598240084743, + -2823.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -939.598240084743, + -2826.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -939.598240084743, + -2829.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -939.598240084743, + -2832.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -939.598240084743, + -2835.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -939.598240084743, + -2838.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -939.598240084743, + -2841.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -939.598240084743, + -2844.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -939.598240084743, + -2847.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -939.598240084743, + -2850.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -939.598240084743, + -2853.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -939.598240084743, + -2856.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -939.598240084743, + -2859.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -939.598240084743, + -2862.426884775691, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -939.598240084743, + -2862.426884775691, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -939.598240084743, + -2862.426884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -937.0001638733897, + -2863.926884775691, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -937.0001638733897, + -2863.926884775691, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -937.0001638733897, + -2863.926884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -937.0001638733897, + -2866.926884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -937.0001638733897, + -2869.926884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -937.0001638733897, + -2872.926884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -937.0001638733897, + -2875.926884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -937.0001638733897, + -2878.926884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -937.0001638733897, + -2881.926884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -937.0001638733897, + -2884.926884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -937.0001638733897, + -2887.926884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -937.0001638733897, + -2890.926884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -937.0001638733897, + -2893.926884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -937.0001638733897, + -2896.926884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -937.0001638733897, + -2899.926884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -937.0001638733897, + -2902.926884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -937.0001638733897, + -2905.926884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -937.0001638733897, + -2908.926884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -937.0001638733897, + -2911.926884775691, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -937.0001638733897, + -2911.926884775691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -938.5001638733897, + -2914.5249609870443, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -940.0001638733897, + -2917.1230371983975, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-17-51_1487053959/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-17-51_1487053959/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a978939277149f76a44646383131574a010ea040 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-17-51_1487053959/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 233.44127978231398, + -1481.7658768566857, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 231.94127978231398, + -1479.1678006453324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 230.44127978231398, + -1476.569724433979, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 228.94127978231398, + -1473.9716482226256, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 227.44127978231398, + -1471.3735720112722, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 225.94127978231398, + -1468.7754957999189, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 224.44127978231398, + -1466.1774195885655, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 222.94127978231398, + -1463.5793433772121, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 222.94127978231398, + -1463.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 222.94127978231398, + -1460.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 222.94127978231398, + -1457.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 222.94127978231398, + -1454.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 222.94127978231398, + -1451.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 222.94127978231398, + -1448.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 222.94127978231398, + -1445.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 222.94127978231398, + -1442.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 222.94127978231398, + -1439.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 222.94127978231398, + -1436.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 222.94127978231398, + -1433.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 222.94127978231398, + -1430.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 222.94127978231398, + -1427.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 222.94127978231398, + -1424.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 222.94127978231398, + -1421.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 222.94127978231398, + -1418.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 222.94127978231398, + -1415.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 222.94127978231398, + -1412.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 222.94127978231398, + -1409.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 222.94127978231398, + -1406.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 222.94127978231398, + -1403.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 222.94127978231398, + -1400.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 222.94127978231398, + -1397.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 222.94127978231398, + -1394.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 222.94127978231398, + -1391.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 222.94127978231398, + -1388.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 222.94127978231398, + -1385.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 222.94127978231398, + -1382.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 222.94127978231398, + -1379.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 222.94127978231398, + -1376.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 222.94127978231398, + -1373.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 222.94127978231398, + -1370.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 222.94127978231398, + -1367.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 222.94127978231398, + -1364.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 222.94127978231398, + -1361.5793433772121, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 222.94127978231398, + -1361.5793433772121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 224.44127978231398, + -1358.9812671658588, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 225.94127978231398, + -1356.3831909545054, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 227.44127978231398, + -1353.785114743152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 228.94127978231398, + -1351.1870385317986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 230.44127978231398, + -1348.5889623204453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 231.94127978231398, + -1345.990886109092, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 233.44127978231398, + -1343.3928098977385, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 234.94127978231398, + -1340.7947336863851, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 236.44127978231398, + -1338.1966574750318, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-20-16_1289547084/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-20-16_1289547084/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7d7394ef7297050c25092dd9ca53243d6f648bde --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-20-16_1289547084/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -94.64793245880935, + -1491.9843089213193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -97.64793245880935, + -1491.9843089213193, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -97.64793245880935, + -1491.9843089213193, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -97.64793245880935, + -1491.9843089213193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -99.14793245880935, + -1494.5823851326727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -100.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -100.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -100.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897833 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -103.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -106.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -109.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -112.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -115.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -118.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -121.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -124.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -127.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -130.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -133.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -136.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -139.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -142.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -145.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -148.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -151.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -154.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -157.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -160.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -163.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -166.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -169.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -172.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -175.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -178.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -178.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -178.64793245880935, + -1497.180461344026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -180.14793245880935, + -1494.5823851326727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -181.64793245880935, + -1491.9843089213193, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -181.64793245880935, + -1491.9843089213193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -184.24600867016267, + -1490.4843089213193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -186.84408488151598, + -1488.9843089213193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -189.4421610928693, + -1487.4843089213193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -192.04023730422261, + -1485.9843089213193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -194.63831351557593, + -1484.4843089213193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -197.23638972692925, + -1482.9843089213193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -199.83446593828256, + -1481.4843089213193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -202.43254214963588, + -1479.9843089213193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -205.0306183609892, + -1478.4843089213193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -207.6286945723425, + -1476.9843089213193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -210.22677078369583, + -1475.4843089213193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -212.82484699504914, + -1473.9843089213193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -215.42292320640246, + -1472.4843089213193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -218.02099941775577, + -1470.9843089213193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -220.6190756291091, + -1469.4843089213193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -223.2171518404624, + -1467.9843089213193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -225.81522805181572, + -1466.4843089213193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -228.41330426316904, + -1464.9843089213193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -231.01138047452235, + -1463.4843089213193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -233.60945668587567, + -1461.9843089213193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -236.207532897229, + -1460.4843089213193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -238.8056091085823, + -1458.9843089213193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -241.40368531993562, + -1457.4843089213193, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-23-46_1891252715/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-23-46_1891252715/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a4ec7d6a82a73e0834ed9aa13ca29dacf9218d45 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-23-46_1891252715/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 386.8484539428895, + -1299.0961391342637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 384.25037773153616, + -1300.5961391342637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 381.65230152018285, + -1302.0961391342637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 379.05422530882953, + -1303.5961391342637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 376.4561490974762, + -1305.0961391342637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 373.8580728861229, + -1306.5961391342637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 371.2599966747696, + -1308.0961391342637, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 371.2599966747696, + -1308.0961391342637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 368.2599966747696, + -1308.0961391342637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 365.2599966747696, + -1308.0961391342637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 362.2599966747696, + -1308.0961391342637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 359.2599966747696, + -1308.0961391342637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 356.2599966747696, + -1308.0961391342637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 353.2599966747696, + -1308.0961391342637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 350.2599966747696, + -1308.0961391342637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 347.2599966747696, + -1308.0961391342637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 344.2599966747696, + -1308.0961391342637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 341.2599966747696, + -1308.0961391342637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 338.2599966747696, + -1308.0961391342637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 335.2599966747696, + -1308.0961391342637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 332.2599966747696, + -1308.0961391342637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 329.2599966747696, + -1308.0961391342637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 326.2599966747696, + -1308.0961391342637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 323.2599966747696, + -1308.0961391342637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 320.2599966747696, + -1308.0961391342637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 317.2599966747696, + -1308.0961391342637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 314.2599966747696, + -1308.0961391342637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 311.2599966747696, + -1308.0961391342637, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 311.2599966747696, + -1308.0961391342637, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 311.2599966747696, + -1308.0961391342637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 309.7599966747696, + -1310.694215345617, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 308.2599966747696, + -1313.2922915569704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 306.7599966747696, + -1315.8903677683238, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 305.2599966747696, + -1318.4884439796772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 303.7599966747696, + -1321.0865201910306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 302.2599966747696, + -1323.684596402384, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 300.7599966747696, + -1326.2826726137373, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 299.2599966747696, + -1328.8807488250907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 297.7599966747696, + -1331.478825036444, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 296.2599966747696, + -1334.0769012477974, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 294.7599966747696, + -1336.6749774591508, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 293.2599966747696, + -1339.2730536705042, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 291.7599966747696, + -1341.8711298818575, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 291.7599966747696, + -1341.8711298818575, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 289.16192046341627, + -1343.3711298818575, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 286.56384425206295, + -1344.8711298818575, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 283.96576804070963, + -1346.3711298818575, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 281.3676918293563, + -1347.8711298818575, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 278.769615618003, + -1349.3711298818575, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 276.1715394066497, + -1350.8711298818575, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 273.57346319529637, + -1352.3711298818575, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 270.97538698394305, + -1353.8711298818575, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 268.37731077258974, + -1355.3711298818575, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 265.7792345612364, + -1356.8711298818575, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 263.1811583498831, + -1358.3711298818575, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-35-34_1687776787/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-35-34_1687776787/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b6cbe12c778a4d4caa94477e56b8e6e79552acc5 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-35-34_1687776787/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -653.667838792668, + -1783.2077555530814, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -655.167838792668, + -1785.8058317644347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -656.667838792668, + -1788.4039079757881, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -658.167838792668, + -1791.0019841871415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -659.667838792668, + -1793.6000603984949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -661.167838792668, + -1796.1981366098482, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -662.667838792668, + -1798.7962128212016, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -664.167838792668, + -1801.394289032555, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -665.667838792668, + -1803.9923652439084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -667.167838792668, + -1806.5904414552617, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -668.667838792668, + -1809.188517666615, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -670.167838792668, + -1811.7865938779685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -671.667838792668, + -1814.3846700893218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -673.167838792668, + -1816.9827463006752, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -674.667838792668, + -1819.5808225120286, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -676.167838792668, + -1822.178898723382, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -677.667838792668, + -1824.7769749347353, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -679.167838792668, + -1827.3750511460887, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -680.667838792668, + -1829.973127357442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -682.167838792668, + -1832.5712035687955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -683.667838792668, + -1835.1692797801488, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -685.167838792668, + -1837.7673559915022, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -686.667838792668, + -1840.3654322028556, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -688.167838792668, + -1842.963508414209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -689.667838792668, + -1845.5615846255623, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -691.167838792668, + -1848.1596608369157, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -692.667838792668, + -1850.757737048269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -694.167838792668, + -1853.3558132596224, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -694.167838792668, + -1853.3558132596224, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -694.167838792668, + -1856.3558132596224, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -694.167838792668, + -1859.3558132596224, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -694.167838792668, + -1862.3558132596224, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -694.167838792668, + -1865.3558132596224, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -694.167838792668, + -1868.3558132596224, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -694.167838792668, + -1871.3558132596224, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -694.167838792668, + -1874.3558132596224, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -694.167838792668, + -1877.3558132596224, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -694.167838792668, + -1880.3558132596224, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -694.167838792668, + -1883.3558132596224, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -694.167838792668, + -1886.3558132596224, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -694.167838792668, + -1889.3558132596224, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -694.167838792668, + -1892.3558132596224, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -694.167838792668, + -1895.3558132596224, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -694.167838792668, + -1898.3558132596224, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -694.167838792668, + -1901.3558132596224, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -694.167838792668, + -1901.3558132596224, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -695.667838792668, + -1903.9538894709758, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -697.167838792668, + -1906.5519656823292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -698.667838792668, + -1909.1500418936826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -700.167838792668, + -1911.748118105036, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -701.667838792668, + -1914.3461943163893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -703.167838792668, + -1916.9442705277427, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -704.667838792668, + -1919.542346739096, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -712.0, + -1940.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-36-39_1954696532/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-36-39_1954696532/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4925c53dd8fdada3f302318580d9eb25183a66bb --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-36-39_1954696532/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -292.38829274294443, + -1419.4006555093447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -289.7902165315911, + -1420.9006555093447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -287.1921403202378, + -1422.4006555093447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -284.5940641088845, + -1423.9006555093447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -281.99598789753117, + -1425.4006555093447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -279.39791168617785, + -1426.9006555093447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -276.79983547482453, + -1428.4006555093447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -274.2017592634712, + -1429.9006555093447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -271.6036830521179, + -1431.4006555093447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -269.0056068407646, + -1432.9006555093447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -266.40753062941127, + -1434.4006555093447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -263.80945441805795, + -1435.9006555093447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -261.21137820670464, + -1437.4006555093447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -258.6133019953513, + -1438.9006555093447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -256.015225783998, + -1440.4006555093447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -253.4171495726447, + -1441.9006555093447, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -253.4171495726447, + -1441.9006555093447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -251.9171495726447, + -1444.498731720698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -250.4171495726447, + -1447.0968079320514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -248.9171495726447, + -1449.6948841434048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -247.4171495726447, + -1452.2929603547582, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -245.9171495726447, + -1454.8910365661116, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -244.4171495726447, + -1457.489112777465, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -242.9171495726447, + -1460.0871889888183, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -241.4171495726447, + -1462.6852652001717, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -239.9171495726447, + -1465.283341411525, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -238.4171495726447, + -1467.8814176228784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -236.9171495726447, + -1470.4794938342318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -235.4171495726447, + -1473.0775700455852, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -233.9171495726447, + -1475.6756462569385, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -232.4171495726447, + -1478.273722468292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -230.9171495726447, + -1480.8717986796453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -229.4171495726447, + -1483.4698748909987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -227.9171495726447, + -1486.067951102352, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -226.4171495726447, + -1488.6660273137054, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -224.9171495726447, + -1491.2641035250588, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -223.4171495726447, + -1493.8621797364121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -221.9171495726447, + -1496.4602559477655, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -220.4171495726447, + -1499.058332159119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -218.9171495726447, + -1501.6564083704723, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -217.4171495726447, + -1504.2544845818256, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -215.9171495726447, + -1506.852560793179, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -214.4171495726447, + -1509.4506370045324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -212.9171495726447, + -1512.0487132158858, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -211.4171495726447, + -1514.6467894272391, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -209.9171495726447, + -1517.2448656385925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -208.4171495726447, + -1519.8429418499459, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -206.9171495726447, + -1522.4410180612992, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -205.4171495726447, + -1525.0390942726526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -203.9171495726447, + -1527.637170484006, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -202.4171495726447, + -1530.2352466953594, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -200.9171495726447, + -1532.8333229067127, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -199.4171495726447, + -1535.431399118066, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -197.9171495726447, + -1538.0294753294195, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -197.9171495726447, + -1538.0294753294195, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -195.31907336129137, + -1539.5294753294195, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -192.72099714993806, + -1541.0294753294195, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-38-35_1131884850/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-38-35_1131884850/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..94115c8fc670a56991a657721927cb27cb283c7e --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-38-35_1131884850/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 225.32611939350033, + -1494.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 225.32611939350033, + -1491.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 225.32611939350033, + -1488.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 225.32611939350033, + -1485.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 225.32611939350033, + -1482.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 225.32611939350033, + -1479.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 225.32611939350033, + -1476.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 225.32611939350033, + -1473.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 225.32611939350033, + -1470.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 225.32611939350033, + -1467.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 225.32611939350033, + -1464.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 225.32611939350033, + -1461.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 225.32611939350033, + -1458.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 225.32611939350033, + -1455.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 225.32611939350033, + -1452.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 225.32611939350033, + -1449.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 225.32611939350033, + -1446.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 225.32611939350033, + -1443.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 225.32611939350033, + -1440.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 225.32611939350033, + -1437.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 225.32611939350033, + -1434.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 225.32611939350033, + -1431.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 225.32611939350033, + -1428.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 225.32611939350033, + -1425.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 225.32611939350033, + -1422.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 225.32611939350033, + -1419.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 225.32611939350033, + -1416.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 225.32611939350033, + -1413.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 225.32611939350033, + -1410.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 225.32611939350033, + -1407.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 225.32611939350033, + -1404.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 225.32611939350033, + -1401.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 225.32611939350033, + -1398.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 225.32611939350033, + -1395.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 225.32611939350033, + -1392.939406998406, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 225.32611939350033, + -1392.939406998406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 223.82611939350033, + -1390.3413307870526, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 223.82611939350033, + -1390.3413307870526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 223.82611939350033, + -1387.3413307870526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 223.82611939350033, + -1384.3413307870526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 223.82611939350033, + -1381.3413307870526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 223.82611939350033, + -1378.3413307870526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 223.82611939350033, + -1375.3413307870526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 223.82611939350033, + -1372.3413307870526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 223.82611939350033, + -1369.3413307870526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 223.82611939350033, + -1366.3413307870526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 223.82611939350033, + -1363.3413307870526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 223.82611939350033, + -1360.3413307870526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 223.82611939350033, + -1357.3413307870526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 223.82611939350033, + -1354.3413307870526, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 223.82611939350033, + -1354.3413307870526, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 223.82611939350033, + -1354.3413307870526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 226.42419560485365, + -1352.8413307870526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 229.02227181620697, + -1351.3413307870526, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 229.02227181620697, + -1351.3413307870526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 230.52227181620697, + -1348.7432545756992, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 232.02227181620697, + -1346.1451783643458, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 233.52227181620697, + -1343.5471021529925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 235.02227181620697, + -1340.949025941639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 236.52227181620697, + -1338.3509497302857, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-4-42_356684278/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-4-42_356684278/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34e21ba6ae82c5381af7a4283afc651ca6fca9d4 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-4-42_356684278/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 191.45760929291203, + -1583.440844959058, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 188.8595330815587, + -1584.940844959058, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 186.2614568702054, + -1586.440844959058, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 183.66338065885208, + -1587.940844959058, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 181.06530444749876, + -1589.440844959058, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 178.46722823614544, + -1590.940844959058, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 175.86915202479213, + -1592.440844959058, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 173.2710758134388, + -1593.940844959058, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 170.6729996020855, + -1595.440844959058, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 168.07492339073218, + -1596.940844959058, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 165.47684717937886, + -1598.440844959058, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 162.87877096802555, + -1599.940844959058, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 160.28069475667223, + -1601.440844959058, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 157.68261854531892, + -1602.940844959058, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 155.0845423339656, + -1604.440844959058, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 152.48646612261228, + -1605.940844959058, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 152.48646612261228, + -1605.940844959058, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 150.98646612261228, + -1608.5389211704114, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 149.48646612261228, + -1611.1369973817648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 147.98646612261228, + -1613.7350735931182, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 146.48646612261228, + -1616.3331498044715, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 144.98646612261228, + -1618.931226015825, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 143.48646612261228, + -1621.5293022271783, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 141.98646612261228, + -1624.1273784385317, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 140.48646612261228, + -1626.725454649885, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 138.98646612261228, + -1629.3235308612384, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 137.48646612261228, + -1631.9216070725918, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 135.98646612261228, + -1634.5196832839451, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 134.48646612261228, + -1637.1177594952985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 132.98646612261228, + -1639.715835706652, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 131.48646612261228, + -1642.3139119180053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 129.98646612261228, + -1644.9119881293586, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 128.48646612261228, + -1647.510064340712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 126.98646612261228, + -1650.1081405520654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 125.48646612261228, + -1652.7062167634188, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 123.98646612261228, + -1655.3042929747721, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 122.48646612261228, + -1657.9023691861255, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 120.98646612261228, + -1660.5004453974789, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 120.98646612261228, + -1660.5004453974789, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 118.38838991125897, + -1662.0004453974789, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 115.79031369990565, + -1663.5004453974789, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 113.19223748855234, + -1665.0004453974789, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 110.59416127719902, + -1666.5004453974789, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 107.9960850658457, + -1668.0004453974789, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 105.39800885449239, + -1669.5004453974789, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 105.39800885449239, + -1669.5004453974789, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 102.39800885449239, + -1669.5004453974789, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 99.39800885449239, + -1669.5004453974789, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 96.39800885449239, + -1669.5004453974789, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-44-1_1240554603/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-44-1_1240554603/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..08984932cabdfdd21b5900506021caf87d91cd20 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-44-1_1240554603/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 385.81139366688024, + -1416.0298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 383.2133174555269, + -1414.5298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 380.6152412441736, + -1413.0298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 378.0171650328203, + -1411.5298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 375.41908882146697, + -1410.0298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 372.82101261011366, + -1408.5298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 370.22293639876034, + -1407.0298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 367.624860187407, + -1405.5298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 365.0267839760537, + -1404.0298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 362.4287077647004, + -1402.5298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 359.8306315533471, + -1401.0298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 357.23255534199376, + -1399.5298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 354.63447913064044, + -1398.0298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 352.0364029192871, + -1396.5298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 349.4383267079338, + -1395.0298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 346.8402504965805, + -1393.5298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 344.2421742852272, + -1392.0298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 341.64409807387386, + -1390.5298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 339.04602186252055, + -1389.0298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 336.44794565116723, + -1387.5298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 333.8498694398139, + -1386.0298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 331.2517932284606, + -1384.5298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 328.6537170171073, + -1383.0298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 326.05564080575397, + -1381.5298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 323.45756459440065, + -1380.0298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 320.85948838304733, + -1378.5298372102143, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 320.85948838304733, + -1378.5298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 317.85948838304733, + -1378.5298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 314.85948838304733, + -1378.5298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 311.85948838304733, + -1378.5298372102143, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 311.85948838304733, + -1378.5298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 309.261412171694, + -1377.0298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 306.6633359603407, + -1375.5298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 304.0652597489874, + -1374.0298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 301.46718353763407, + -1372.5298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 298.86910732628075, + -1371.0298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 296.27103111492744, + -1369.5298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 293.6729549035741, + -1368.0298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 291.0748786922208, + -1366.5298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 288.4768024808675, + -1365.0298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 285.8787262695142, + -1363.5298372102143, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 285.8787262695142, + -1363.5298372102143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 284.3787262695142, + -1360.931760998861, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 282.8787262695142, + -1358.3336847875075, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 281.3787262695142, + -1355.7356085761542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 279.8787262695142, + -1353.1375323648008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 278.3787262695142, + -1350.5394561534474, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 276.8787262695142, + -1347.941379942094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 275.3787262695142, + -1345.3433037307407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 273.8787262695142, + -1342.7452275193873, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 272.3787262695142, + -1340.147151308034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 270.8787262695142, + -1337.5490750966806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 269.3787262695142, + -1334.9509988853272, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-8-50_1981208324/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-8-50_1981208324/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..57574211fbf8c399421c58f4951fa83239b4d39c --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-8-50_1981208324/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 396.11279233377684, + -1346.0068420308316, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 397.61279233377684, + -1343.4087658194783, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 399.11279233377684, + -1340.810689608125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 400.61279233377684, + -1338.2126133967715, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 402.11279233377684, + -1335.6145371854182, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 403.61279233377684, + -1333.0164609740648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 405.11279233377684, + -1330.4183847627114, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 406.61279233377684, + -1327.820308551358, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 408.11279233377684, + -1325.2222323400047, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 409.61279233377684, + -1322.6241561286513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 411.11279233377684, + -1320.026079917298, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 412.61279233377684, + -1317.4280037059445, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 412.61279233377684, + -1317.4280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 412.61279233377684, + -1314.4280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 412.61279233377684, + -1311.4280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 412.61279233377684, + -1308.4280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 412.61279233377684, + -1305.4280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 412.61279233377684, + -1302.4280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 412.61279233377684, + -1299.4280037059445, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 412.61279233377684, + -1299.4280037059445, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 412.61279233377684, + -1299.4280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 415.21086854513015, + -1297.9280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 417.80894475648347, + -1296.4280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 420.4070209678368, + -1294.9280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 423.0050971791901, + -1293.4280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 425.6031733905434, + -1291.9280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 428.20124960189673, + -1290.4280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 430.79932581325005, + -1288.9280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 433.39740202460337, + -1287.4280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 435.9954782359567, + -1285.9280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 438.59355444731, + -1284.4280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 441.1916306586633, + -1282.9280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 443.78970687001663, + -1281.4280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 446.38778308136995, + -1279.9280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 448.98585929272326, + -1278.4280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 451.5839355040766, + -1276.9280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 454.1820117154299, + -1275.4280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 456.7800879267832, + -1273.9280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 459.3781641381365, + -1272.4280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 461.97624034948984, + -1270.9280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 464.57431656084316, + -1269.4280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 467.1723927721965, + -1267.9280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 469.7704689835498, + -1266.4280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 472.3685451949031, + -1264.9280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 474.9666214062564, + -1263.4280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 477.56469761760974, + -1261.9280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 480.16277382896305, + -1260.4280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 482.76085004031637, + -1258.9280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 485.3589262516697, + -1257.4280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 487.957002463023, + -1255.9280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 490.5550786743763, + -1254.4280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 493.15315488572963, + -1252.9280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 495.75123109708295, + -1251.4280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 498.34930730843627, + -1249.9280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 500.9473835197896, + -1248.4280037059445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 503.5454597311429, + -1246.9280037059445, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-21-6_223712350/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-21-6_223712350/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a8beadcb257eaf731eceeeb2c97b513be827b2d0 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-21-6_223712350/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -668.976421503842, + -2049.126932305335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -670.476421503842, + -2046.5288560939814, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -671.976421503842, + -2043.930779882628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -673.476421503842, + -2041.3327036712747, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -674.976421503842, + -2038.7346274599213, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -676.476421503842, + -2036.136551248568, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -677.976421503842, + -2033.5384750372145, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -679.476421503842, + -2030.9403988258612, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -680.976421503842, + -2028.3423226145078, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -682.476421503842, + -2025.7442464031544, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -683.976421503842, + -2023.146170191801, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -685.476421503842, + -2020.5480939804477, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -686.976421503842, + -2017.9500177690943, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -688.476421503842, + -2015.351941557741, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -688.476421503842, + -2015.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -688.476421503842, + -2012.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -688.476421503842, + -2009.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -688.476421503842, + -2006.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -688.476421503842, + -2003.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -688.476421503842, + -2000.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -688.476421503842, + -1997.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -688.476421503842, + -1994.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -688.476421503842, + -1991.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -688.476421503842, + -1988.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -688.476421503842, + -1985.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -688.476421503842, + -1982.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -688.476421503842, + -1979.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -688.476421503842, + -1976.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -688.476421503842, + -1973.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -688.476421503842, + -1970.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -688.476421503842, + -1967.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -688.476421503842, + -1964.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -688.476421503842, + -1961.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -688.476421503842, + -1958.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -688.476421503842, + -1955.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -688.476421503842, + -1952.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -688.476421503842, + -1949.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -688.476421503842, + -1946.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -688.476421503842, + -1943.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -688.476421503842, + -1940.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -688.476421503842, + -1937.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -688.476421503842, + -1934.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -688.476421503842, + -1931.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -688.476421503842, + -1928.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -688.476421503842, + -1925.351941557741, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -688.476421503842, + -1925.351941557741, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -688.476421503842, + -1925.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -691.0744977151953, + -1923.851941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -693.6725739265487, + -1922.351941557741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -696.2706501379021, + -1920.851941557741, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-41-8_445080308/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-41-8_445080308/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e12d989d594903c11e5e3fe4fede08c719607733 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-41-8_445080308/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -61.71568220952261, + -1812.9584796804784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -61.71568220952261, + -1809.9584796804784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -61.71568220952261, + -1806.9584796804784, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -61.71568220952261, + -1806.9584796804784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -60.21568220952261, + -1804.360403469125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -58.71568220952261, + -1801.7623272577716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -57.21568220952261, + -1799.1642510464183, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -55.71568220952261, + -1796.5661748350649, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -54.21568220952261, + -1793.9680986237115, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -52.71568220952261, + -1791.3700224123581, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -51.21568220952261, + -1788.7719462010048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -49.71568220952261, + -1786.1738699896514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -48.21568220952261, + -1783.575793778298, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -46.71568220952261, + -1780.9777175669446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -45.21568220952261, + -1778.3796413555913, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -43.71568220952261, + -1775.781565144238, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -42.21568220952261, + -1773.1834889328845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -40.71568220952261, + -1770.5854127215312, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -40.71568220952261, + -1770.5854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -38.117605998169296, + -1769.0854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -35.51952978681598, + -1767.5854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -32.921453575462664, + -1766.0854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -30.323377364109348, + -1764.5854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -27.725301152756032, + -1763.0854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -25.127224941402716, + -1761.5854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -22.5291487300494, + -1760.0854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -19.931072518696084, + -1758.5854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -17.332996307342768, + -1757.0854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -14.734920095989452, + -1755.5854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -12.136843884636136, + -1754.0854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -9.53876767328282, + -1752.5854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -6.940691461929504, + -1751.0854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -4.342615250576188, + -1749.5854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1.7445390392228717, + -1748.0854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 0.8535371721304443, + -1746.5854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3.4516133834837603, + -1745.0854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 6.049689594837076, + -1743.5854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 8.647765806190392, + -1742.0854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 11.245842017543708, + -1740.5854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 13.843918228897024, + -1739.0854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 16.44199444025034, + -1737.5854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 19.040070651603656, + -1736.0854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 21.638146862956972, + -1734.5854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 24.23622307431029, + -1733.0854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 26.834299285663604, + -1731.5854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 29.43237549701692, + -1730.0854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 32.03045170837024, + -1728.5854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 34.62852791972355, + -1727.0854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 37.22660413107687, + -1725.5854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 39.824680342430185, + -1724.0854127215312, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 39.824680342430185, + -1724.0854127215312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 41.324680342430185, + -1721.4873365101778, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 42.824680342430185, + -1718.8892602988244, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-45-58_1799560997/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-45-58_1799560997/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..569a2442532bc618d24ae54ecfbd424fdebf5f43 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-45-58_1799560997/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -983.2777189614127, + -2778.5165471682753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -981.7777189614127, + -2781.1146233796285, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -980.2777189614127, + -2783.7126995909816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -978.7777189614127, + -2786.310775802335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -977.2777189614127, + -2788.908852013688, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -975.7777189614127, + -2791.506928225041, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -974.2777189614127, + -2794.105004436394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -972.7777189614127, + -2796.7030806477474, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -971.2777189614127, + -2799.3011568591005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -969.7777189614127, + -2801.8992330704536, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -969.7777189614127, + -2801.8992330704536, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -967.1796427500594, + -2803.3992330704536, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -964.581566538706, + -2804.8992330704536, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -961.9834903273527, + -2806.3992330704536, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -959.3854141159993, + -2807.8992330704536, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -959.3854141159993, + -2807.8992330704536, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -957.8854141159993, + -2810.497309281807, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -956.3854141159993, + -2813.09538549316, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -954.8854141159993, + -2815.693461704513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -953.3854141159993, + -2818.2915379158662, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -951.8854141159993, + -2820.8896141272194, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -950.3854141159993, + -2823.4876903385725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -948.8854141159993, + -2826.0857665499257, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -947.3854141159993, + -2828.683842761279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -945.8854141159993, + -2831.281918972632, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -944.3854141159993, + -2833.879995183985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -942.8854141159993, + -2836.4780713953382, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -941.3854141159993, + -2839.0761476066914, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -939.8854141159993, + -2841.6742238180445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -938.3854141159993, + -2844.2723000293977, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -936.8854141159993, + -2846.870376240751, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -935.3854141159993, + -2849.468452452104, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -935.3854141159993, + -2849.468452452104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -935.3854141159993, + -2852.468452452104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -935.3854141159993, + -2855.468452452104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -935.3854141159993, + -2858.468452452104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -935.3854141159993, + -2861.468452452104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -935.3854141159993, + -2864.468452452104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -935.3854141159993, + -2867.468452452104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -935.3854141159993, + -2870.468452452104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -935.3854141159993, + -2873.468452452104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -935.3854141159993, + -2876.468452452104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -935.3854141159993, + -2879.468452452104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -935.3854141159993, + -2882.468452452104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -935.3854141159993, + -2885.468452452104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -935.3854141159993, + -2888.468452452104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -935.3854141159993, + -2891.468452452104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -935.3854141159993, + -2894.468452452104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -935.3854141159993, + -2897.468452452104, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -935.3854141159993, + -2897.468452452104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -936.8854141159993, + -2900.066528663457, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -938.3854141159993, + -2902.6646048748103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -939.8854141159993, + -2905.2626810861634, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -941.3854141159993, + -2907.8607572975166, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -942.8854141159993, + -2910.4588335088697, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -944.3854141159993, + -2913.056909720223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -945.8854141159993, + -2915.654985931576, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -945.8854141159993, + -2915.654985931576, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.570796326794925 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -945.8854141159993, + -2915.654985931576, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -944.3854141159993, + -2918.253062142929, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.047197551196626 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-47-27_695466127/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-47-27_695466127/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d8625a564087f24f7c0e1263ab1387f239e35fd0 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-47-27_695466127/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 386.60895500691413, + -1281.4660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 384.0108787955608, + -1282.9660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 381.4128025842075, + -1284.4660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 378.8147263728542, + -1285.9660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 376.21665016150087, + -1287.4660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 373.61857395014755, + -1288.9660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 371.02049773879423, + -1290.4660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 368.4224215274409, + -1291.9660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 365.8243453160876, + -1293.4660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 363.2262691047343, + -1294.9660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 360.62819289338097, + -1296.4660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 358.03011668202765, + -1297.9660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 355.43204047067434, + -1299.4660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 352.833964259321, + -1300.9660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 350.2358880479677, + -1302.4660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 347.6378118366144, + -1303.9660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 345.0397356252611, + -1305.4660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 342.44165941390776, + -1306.9660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 339.84358320255444, + -1308.4660704170453, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 339.84358320255444, + -1308.4660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 336.84358320255444, + -1308.4660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 333.84358320255444, + -1308.4660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 330.84358320255444, + -1308.4660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 327.84358320255444, + -1308.4660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 324.84358320255444, + -1308.4660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 321.84358320255444, + -1308.4660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 318.84358320255444, + -1308.4660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 315.84358320255444, + -1308.4660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 312.84358320255444, + -1308.4660704170453, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 312.84358320255444, + -1308.4660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 310.2455069912011, + -1309.9660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 307.6474307798478, + -1311.4660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 305.0493545684945, + -1312.9660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 302.4512783571412, + -1314.4660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 299.85320214578786, + -1315.9660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 297.25512593443455, + -1317.4660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 294.65704972308123, + -1318.9660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 292.0589735117279, + -1320.4660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 289.4608973003746, + -1321.9660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 286.8628210890213, + -1323.4660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 284.26474487766797, + -1324.9660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 281.66666866631465, + -1326.4660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 279.06859245496133, + -1327.9660704170453, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 279.06859245496133, + -1327.9660704170453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 277.56859245496133, + -1330.5641466283987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 276.06859245496133, + -1333.162222839752, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 274.56859245496133, + -1335.7602990511054, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 273.06859245496133, + -1338.3583752624588, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 271.56859245496133, + -1340.9564514738122, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 270.06859245496133, + -1343.5545276851656, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 268.56859245496133, + -1346.152603896519, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 267.06859245496133, + -1348.7506801078723, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 265.56859245496133, + -1351.3487563192257, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 264.06859245496133, + -1353.946832530579, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 262.56859245496133, + -1356.5449087419324, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-58-32_1887665154/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-58-32_1887665154/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..61c79695d7985f697cfeaf6d2592d9c9a7274365 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-58-32_1887665154/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 380.3078636622763, + -1378.950562146563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 377.3078636622763, + -1378.950562146563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 374.3078636622763, + -1378.950562146563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 371.3078636622763, + -1378.950562146563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 368.3078636622763, + -1378.950562146563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 365.3078636622763, + -1378.950562146563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 362.3078636622763, + -1378.950562146563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 359.3078636622763, + -1378.950562146563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 356.3078636622763, + -1378.950562146563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 353.3078636622763, + -1378.950562146563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 350.3078636622763, + -1378.950562146563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 347.3078636622763, + -1378.950562146563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 344.3078636622763, + -1378.950562146563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 341.3078636622763, + -1378.950562146563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 338.3078636622763, + -1378.950562146563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 335.3078636622763, + -1378.950562146563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 332.3078636622763, + -1378.950562146563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 329.3078636622763, + -1378.950562146563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 326.3078636622763, + -1378.950562146563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 323.3078636622763, + -1378.950562146563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 320.3078636622763, + -1378.950562146563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 317.3078636622763, + -1378.950562146563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 314.3078636622763, + -1378.950562146563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 311.3078636622763, + -1378.950562146563, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 311.3078636622763, + -1378.950562146563, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 311.3078636622763, + -1378.950562146563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 309.8078636622763, + -1376.3524859352096, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 308.3078636622763, + -1373.7544097238563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 306.8078636622763, + -1371.156333512503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 305.3078636622763, + -1368.5582573011495, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 303.8078636622763, + -1365.9601810897962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 302.3078636622763, + -1363.3621048784428, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 300.8078636622763, + -1360.7640286670894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 299.3078636622763, + -1358.165952455736, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 297.8078636622763, + -1355.5678762443827, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 296.3078636622763, + -1352.9698000330293, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 294.8078636622763, + -1350.371723821676, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 294.8078636622763, + -1350.371723821676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 292.209787450923, + -1348.871723821676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 289.6117112395697, + -1347.371723821676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 287.01363502821636, + -1345.871723821676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 284.41555881686304, + -1344.371723821676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 281.8174826055097, + -1342.871723821676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 279.2194063941564, + -1341.371723821676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 276.6213301828031, + -1339.871723821676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 274.0232539714498, + -1338.371723821676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 271.42517776009646, + -1336.871723821676, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 271.42517776009646, + -1336.871723821676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 269.92517776009646, + -1334.2736476103225, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 268.42517776009646, + -1331.6755713989692, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 266.92517776009646, + -1329.0774951876158, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-58-59_2118801173/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-58-59_2118801173/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..290ae9e29101ab958af095989f62338c9af88a12 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-58-59_2118801173/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 377.2445423729863, + -1294.658342807714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 374.646466161633, + -1296.158342807714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 372.04838995027967, + -1297.658342807714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 369.45031373892635, + -1299.158342807714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 366.85223752757304, + -1300.658342807714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 364.2541613162197, + -1302.158342807714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 361.6560851048664, + -1303.658342807714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 359.0580088935131, + -1305.158342807714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 356.4599326821598, + -1306.658342807714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 353.86185647080646, + -1308.158342807714, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 353.86185647080646, + -1308.158342807714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 350.86185647080646, + -1308.158342807714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 347.86185647080646, + -1308.158342807714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 344.86185647080646, + -1308.158342807714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 341.86185647080646, + -1308.158342807714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 338.86185647080646, + -1308.158342807714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 335.86185647080646, + -1308.158342807714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 332.86185647080646, + -1308.158342807714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 329.86185647080646, + -1308.158342807714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 326.86185647080646, + -1308.158342807714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 323.86185647080646, + -1308.158342807714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 320.86185647080646, + -1308.158342807714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 317.86185647080646, + -1308.158342807714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 314.86185647080646, + -1308.158342807714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 311.86185647080646, + -1308.158342807714, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 311.86185647080646, + -1308.158342807714, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 311.86185647080646, + -1308.158342807714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 310.36185647080646, + -1310.7564190190674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 308.86185647080646, + -1313.3544952304208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 307.36185647080646, + -1315.9525714417741, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 305.86185647080646, + -1318.5506476531275, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 304.36185647080646, + -1321.1487238644809, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 302.86185647080646, + -1323.7468000758342, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 301.36185647080646, + -1326.3448762871876, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 299.86185647080646, + -1328.942952498541, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 298.36185647080646, + -1331.5410287098944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 296.86185647080646, + -1334.1391049212477, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 295.36185647080646, + -1336.737181132601, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 293.86185647080646, + -1339.3352573439545, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 293.86185647080646, + -1339.3352573439545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 291.26378025945314, + -1340.8352573439545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 288.6657040480998, + -1342.3352573439545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 286.0676278367465, + -1343.8352573439545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 283.4695516253932, + -1345.3352573439545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 280.8714754140399, + -1346.8352573439545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 278.27339920268656, + -1348.3352573439545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 275.67532299133325, + -1349.8352573439545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 273.07724677997993, + -1351.3352573439545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 270.4791705686266, + -1352.8352573439545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 267.8810943572733, + -1354.3352573439545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 265.28301814592, + -1355.8352573439545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 262.68494193456667, + -1357.3352573439545, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-6-9_2010794583/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-6-9_2010794583/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..215d5cf6724e5dc334a47aa261682e429dce8ae1 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-6-9_2010794583/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -155.924547148459, + -1568.5827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -155.924547148459, + -1565.5827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -155.924547148459, + -1562.5827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -155.924547148459, + -1559.5827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -155.924547148459, + -1556.5827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -155.924547148459, + -1553.5827125764479, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -155.924547148459, + -1553.5827125764479, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -155.924547148459, + -1553.5827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -158.52262335981231, + -1552.0827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -161.12069957116563, + -1550.5827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -163.71877578251895, + -1549.0827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -166.31685199387226, + -1547.5827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -168.91492820522558, + -1546.0827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -171.5130044165789, + -1544.5827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -174.1110806279322, + -1543.0827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -176.70915683928553, + -1541.5827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -179.30723305063884, + -1540.0827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -181.90530926199216, + -1538.5827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -184.50338547334547, + -1537.0827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -187.1014616846988, + -1535.5827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -189.6995378960521, + -1534.0827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -192.29761410740542, + -1532.5827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -194.89569031875874, + -1531.0827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -197.49376653011205, + -1529.5827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -200.09184274146537, + -1528.0827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -202.6899189528187, + -1526.5827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -205.287995164172, + -1525.0827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -207.88607137552532, + -1523.5827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -210.48414758687863, + -1522.0827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -213.08222379823195, + -1520.5827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -215.68030000958527, + -1519.0827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -218.27837622093858, + -1517.5827125764479, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -218.27837622093858, + -1517.5827125764479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -219.77837622093858, + -1514.9846363650945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -221.27837622093858, + -1512.3865601537411, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -222.77837622093858, + -1509.7884839423878, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -224.27837622093858, + -1507.1904077310344, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -225.77837622093858, + -1504.592331519681, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -227.27837622093858, + -1501.9942553083276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -228.77837622093858, + -1499.3961790969743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -230.27837622093858, + -1496.798102885621, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -231.77837622093858, + -1494.2000266742675, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -233.27837622093858, + -1491.6019504629141, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -234.77837622093858, + -1489.0038742515608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -236.27837622093858, + -1486.4057980402074, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -237.77837622093858, + -1483.807721828854, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -239.27837622093858, + -1481.2096456175007, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -240.77837622093858, + -1478.6115694061473, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-13-14_1928189300/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-13-14_1928189300/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d0542e47b2574e31d34e0a2e16a07914e84de5df --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-13-14_1928189300/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -826.9023520849927, + -1955.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -823.9023520849927, + -1955.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -820.9023520849927, + -1955.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -817.9023520849927, + -1955.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -814.9023520849927, + -1955.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -811.9023520849927, + -1955.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -808.9023520849927, + -1955.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -805.9023520849927, + -1955.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -802.9023520849927, + -1955.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -799.9023520849927, + -1955.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -796.9023520849927, + -1955.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -793.9023520849927, + -1955.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -790.9023520849927, + -1955.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -787.9023520849927, + -1955.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -784.9023520849927, + -1955.61137393375, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -784.9023520849927, + -1955.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -782.3042758736394, + -1954.11137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -779.706199662286, + -1952.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -777.1081234509327, + -1951.11137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -774.5100472395793, + -1949.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -771.9119710282259, + -1948.11137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -769.3138948168726, + -1946.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -766.7158186055192, + -1945.11137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -764.1177423941658, + -1943.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -761.5196661828124, + -1942.11137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -758.9215899714591, + -1940.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -756.3235137601057, + -1939.11137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -753.7254375487523, + -1937.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -751.127361337399, + -1936.11137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -748.5292851260456, + -1934.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -745.9312089146922, + -1933.11137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -743.3331327033388, + -1931.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -740.7350564919855, + -1930.11137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -738.1369802806321, + -1928.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -735.5389040692787, + -1927.11137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -732.9408278579253, + -1925.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -730.342751646572, + -1924.11137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -727.7446754352186, + -1922.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -725.1465992238652, + -1921.11137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -722.5485230125119, + -1919.61137393375, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -722.5485230125119, + -1919.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -719.5485230125119, + -1919.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -716.5485230125119, + -1919.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -713.5485230125119, + -1919.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -710.5485230125119, + -1919.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -707.5485230125119, + -1919.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -704.5485230125119, + -1919.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -701.5485230125119, + -1919.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -698.5485230125119, + -1919.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -695.5485230125119, + -1919.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -692.5485230125119, + -1919.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -689.5485230125119, + -1919.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -686.5485230125119, + -1919.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -683.5485230125119, + -1919.61137393375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -680.5485230125119, + -1919.61137393375, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-20-9_1209734969/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-20-9_1209734969/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad58acdcc1459555104c99ccb2dc07912cfa7629 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-20-9_1209734969/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -654.0493075418707, + -2040.567773671541, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -655.5493075418707, + -2037.9696974601877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -657.0493075418707, + -2035.3716212488343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -658.5493075418707, + -2032.773545037481, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -660.0493075418707, + -2030.1754688261276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -661.5493075418707, + -2027.5773926147742, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -663.0493075418707, + -2024.9793164034209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -664.5493075418707, + -2022.3812401920675, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -666.0493075418707, + -2019.783163980714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -667.5493075418707, + -2017.1850877693607, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -669.0493075418707, + -2014.5870115580074, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -670.5493075418707, + -2011.988935346654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -672.0493075418707, + -2009.3908591353006, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -673.5493075418707, + -2006.7927829239472, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -675.0493075418707, + -2004.1947067125939, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -676.5493075418707, + -2001.5966305012405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -678.0493075418707, + -1998.9985542898871, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -679.5493075418707, + -1996.4004780785338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -681.0493075418707, + -1993.8024018671804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -682.5493075418707, + -1991.204325655827, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -684.0493075418707, + -1988.6062494444736, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -685.5493075418707, + -1986.0081732331203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -687.0493075418707, + -1983.410097021767, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -687.0493075418707, + -1983.410097021767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -687.0493075418707, + -1980.410097021767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -687.0493075418707, + -1977.410097021767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -687.0493075418707, + -1974.410097021767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -687.0493075418707, + -1971.410097021767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -687.0493075418707, + -1968.410097021767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -687.0493075418707, + -1965.410097021767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -687.0493075418707, + -1962.410097021767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -687.0493075418707, + -1959.410097021767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -687.0493075418707, + -1956.410097021767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -687.0493075418707, + -1953.410097021767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -687.0493075418707, + -1950.410097021767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -687.0493075418707, + -1947.410097021767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -687.0493075418707, + -1944.410097021767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -687.0493075418707, + -1941.410097021767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -687.0493075418707, + -1938.410097021767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -687.0493075418707, + -1935.410097021767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -687.0493075418707, + -1932.410097021767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -687.0493075418707, + -1929.410097021767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -687.0493075418707, + -1926.410097021767, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -687.0493075418707, + -1926.410097021767, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -687.0493075418707, + -1926.410097021767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -689.647383753224, + -1924.910097021767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -692.2454599645773, + -1923.410097021767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -694.8435361759307, + -1921.910097021767, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-22-44_2067062760/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-22-44_2067062760/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15b3b01e4ee1f7d878703f8eae657cd49f5bc814 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-22-44_2067062760/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -54.94384993105366, + -1444.3150791515347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -57.54192614240698, + -1445.8150791515347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -60.140002353760295, + -1447.3150791515347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -62.73807856511361, + -1448.8150791515347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -65.33615477646693, + -1450.3150791515347, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -65.33615477646693, + -1450.3150791515347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -66.83615477646693, + -1452.9131553628881, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -68.33615477646693, + -1455.5112315742415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -69.83615477646693, + -1458.1093077855949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -71.33615477646693, + -1460.7073839969482, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -72.83615477646693, + -1463.3054602083016, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -74.33615477646693, + -1465.903536419655, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -75.83615477646693, + -1468.5016126310084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -77.33615477646693, + -1471.0996888423617, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -78.83615477646693, + -1473.697765053715, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -80.33615477646693, + -1476.2958412650685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -81.83615477646693, + -1478.8939174764218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -83.33615477646693, + -1481.4919936877752, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -84.83615477646693, + -1484.0900698991286, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -86.33615477646693, + -1486.688146110482, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -87.83615477646693, + -1489.2862223218353, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -89.33615477646693, + -1491.8842985331887, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -90.83615477646693, + -1494.482374744542, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -90.83615477646693, + -1494.482374744542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -93.43423098782024, + -1495.982374744542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -96.03230719917356, + -1497.482374744542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -98.63038341052687, + -1498.982374744542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -101.22845962188019, + -1500.482374744542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -103.8265358332335, + -1501.982374744542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -106.42461204458682, + -1503.482374744542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -109.02268825594014, + -1504.982374744542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -111.62076446729345, + -1506.482374744542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -114.21884067864677, + -1507.982374744542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -116.81691689000009, + -1509.482374744542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -119.4149931013534, + -1510.982374744542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -122.01306931270672, + -1512.482374744542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -124.61114552406003, + -1513.982374744542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -127.20922173541335, + -1515.482374744542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -129.80729794676665, + -1516.982374744542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991492 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -132.40537415811997, + -1518.482374744542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -135.00345036947328, + -1519.982374744542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -137.6015265808266, + -1521.482374744542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -140.19960279217992, + -1522.982374744542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -142.79767900353323, + -1524.482374744542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -145.39575521488655, + -1525.982374744542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -147.99383142623986, + -1527.482374744542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -150.59190763759318, + -1528.982374744542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -153.1899838489465, + -1530.482374744542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -155.7880600602998, + -1531.982374744542, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -155.7880600602998, + -1531.982374744542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -157.2880600602998, + -1534.5804509558955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -158.7880600602998, + -1537.1785271672488, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -160.2880600602998, + -1539.7766033786022, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-23-15_1020406649/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-23-15_1020406649/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e9eeab6ee3abd01f64444c05c8c3b4ff6d6939e9 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-23-15_1020406649/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 377.15260719658534, + -1467.380791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 374.554530985232, + -1468.880791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 371.9564547738787, + -1470.380791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 369.3583785625254, + -1471.880791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 366.7603023511721, + -1473.380791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 364.16222613981876, + -1474.880791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 361.56414992846544, + -1476.380791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 358.9660737171121, + -1477.880791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 356.3679975057588, + -1479.380791927653, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 356.3679975057588, + -1479.380791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 353.3679975057588, + -1479.380791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 350.3679975057588, + -1479.380791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 347.3679975057588, + -1479.380791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 344.3679975057588, + -1479.380791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 341.3679975057588, + -1479.380791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 338.3679975057588, + -1479.380791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 335.3679975057588, + -1479.380791927653, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 335.3679975057588, + -1479.380791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 332.7699212944055, + -1480.880791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 330.1718450830522, + -1482.380791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 327.57376887169886, + -1483.880791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 324.97569266034554, + -1485.380791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 322.3776164489922, + -1486.880791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 319.7795402376389, + -1488.380791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 317.1814640262856, + -1489.880791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 314.5833878149323, + -1491.380791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 311.98531160357896, + -1492.880791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 309.38723539222565, + -1494.380791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 306.78915918087233, + -1495.880791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 304.191082969519, + -1497.380791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 301.5930067581657, + -1498.880791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 298.9949305468124, + -1500.380791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 296.39685433545907, + -1501.880791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 293.79877812410575, + -1503.380791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 291.20070191275244, + -1504.880791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 288.6026257013991, + -1506.380791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 286.0045494900458, + -1507.880791927653, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 286.0045494900458, + -1507.880791927653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 284.5045494900458, + -1510.4788681390064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 283.0045494900458, + -1513.0769443503598, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 281.5045494900458, + -1515.6750205617132, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 280.0045494900458, + -1518.2730967730665, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 278.5045494900458, + -1520.87117298442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 277.0045494900458, + -1523.4692491957733, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 275.5045494900458, + -1526.0673254071266, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 274.0045494900458, + -1528.66540161848, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 272.5045494900458, + -1531.2634778298334, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 271.0045494900458, + -1533.8615540411868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 269.5045494900458, + -1536.4596302525401, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 268.0045494900458, + -1539.0577064638935, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 266.5045494900458, + -1541.6557826752469, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1560.0, + -206.55 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-25-40_221713886/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-25-40_221713886/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c8b8d3a261165892b7a19c1cecc5cd37f5cdb9dc --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-25-40_221713886/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 225.52898459028413, + -1480.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 225.52898459028413, + -1477.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 225.52898459028413, + -1474.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 225.52898459028413, + -1471.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 225.52898459028413, + -1468.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 225.52898459028413, + -1465.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 225.52898459028413, + -1462.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 225.52898459028413, + -1459.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 225.52898459028413, + -1456.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 225.52898459028413, + -1453.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 225.52898459028413, + -1450.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 225.52898459028413, + -1447.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 225.52898459028413, + -1444.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 225.52898459028413, + -1441.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 225.52898459028413, + -1438.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 225.52898459028413, + -1435.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 225.52898459028413, + -1432.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 225.52898459028413, + -1429.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 225.52898459028413, + -1426.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 225.52898459028413, + -1423.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 225.52898459028413, + -1420.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 225.52898459028413, + -1417.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 225.52898459028413, + -1414.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 225.52898459028413, + -1411.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 225.52898459028413, + -1408.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 225.52898459028413, + -1405.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 225.52898459028413, + -1402.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 225.52898459028413, + -1399.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 225.52898459028413, + -1396.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 225.52898459028413, + -1393.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 225.52898459028413, + -1390.509950645889, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 225.52898459028413, + -1390.509950645889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 224.02898459028413, + -1387.9118744345355, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 224.02898459028413, + -1387.9118744345355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 224.02898459028413, + -1384.9118744345355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 224.02898459028413, + -1381.9118744345355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 224.02898459028413, + -1378.9118744345355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 224.02898459028413, + -1375.9118744345355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 224.02898459028413, + -1372.9118744345355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 224.02898459028413, + -1369.9118744345355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 224.02898459028413, + -1366.9118744345355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 224.02898459028413, + -1363.9118744345355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 224.02898459028413, + -1360.9118744345355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 224.02898459028413, + -1357.9118744345355, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 224.02898459028413, + -1357.9118744345355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 225.52898459028413, + -1355.3137982231822, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 227.02898459028413, + -1352.7157220118288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 228.52898459028413, + -1350.1176458004754, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 230.02898459028413, + -1347.519569589122, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 231.52898459028413, + -1344.9214933777687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 233.02898459028413, + -1342.3234171664153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 234.52898459028413, + -1339.725340955062, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 236.02898459028413, + -1337.1272647437086, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-3-55_301373537/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-3-55_301373537/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f28249599493b55023fdcc75c5edd98e1df93223 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-3-55_301373537/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 402.7029268695836, + -1352.8185595789826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 405.30100308093694, + -1351.3185595789826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 407.89907929229025, + -1349.8185595789826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 410.49715550364357, + -1348.3185595789826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 413.0952317149969, + -1346.8185595789826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 415.6933079263502, + -1345.3185595789826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 418.2913841377035, + -1343.8185595789826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 420.88946034905683, + -1342.3185595789826, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 420.88946034905683, + -1342.3185595789826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 423.88946034905683, + -1342.3185595789826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 426.88946034905683, + -1342.3185595789826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 429.88946034905683, + -1342.3185595789826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 432.88946034905683, + -1342.3185595789826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 435.88946034905683, + -1342.3185595789826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 438.88946034905683, + -1342.3185595789826, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 438.88946034905683, + -1342.3185595789826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 441.48753656041015, + -1340.8185595789826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 444.08561277176346, + -1339.3185595789826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 446.6836889831168, + -1337.8185595789826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 449.2817651944701, + -1336.3185595789826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 451.8798414058234, + -1334.8185595789826, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 451.8798414058234, + -1334.8185595789826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 453.3798414058234, + -1332.2204833676292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 454.8798414058234, + -1329.6224071562758, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 456.3798414058234, + -1327.0243309449224, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 457.8798414058234, + -1324.426254733569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 459.3798414058234, + -1321.8281785222157, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 460.8798414058234, + -1319.2301023108623, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 462.3798414058234, + -1316.632026099509, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 463.8798414058234, + -1314.0339498881556, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 465.3798414058234, + -1311.4358736768022, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 466.8798414058234, + -1308.8377974654488, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 468.3798414058234, + -1306.2397212540955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 469.8798414058234, + -1303.641645042742, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 471.3798414058234, + -1301.0435688313887, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 472.8798414058234, + -1298.4454926200353, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 474.3798414058234, + -1295.847416408682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 475.8798414058234, + -1293.2493401973286, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 477.3798414058234, + -1290.6512639859752, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 478.8798414058234, + -1288.0531877746218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 480.3798414058234, + -1285.4551115632685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 481.8798414058234, + -1282.857035351915, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 483.3798414058234, + -1280.2589591405617, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 484.8798414058234, + -1277.6608829292084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 486.3798414058234, + -1275.062806717855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 487.8798414058234, + -1272.4647305065016, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 489.3798414058234, + -1269.8666542951482, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 490.8798414058234, + -1267.2685780837949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 492.3798414058234, + -1264.6705018724415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 493.8798414058234, + -1262.0724256610881, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 495.3798414058234, + -1259.4743494497347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 496.8798414058234, + -1256.8762732383814, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 498.3798414058234, + -1254.278197027028, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 499.8798414058234, + -1251.6801208156746, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 501.3798414058234, + -1249.0820446043213, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 502.8798414058234, + -1246.4839683929679, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-39-5_2138982933/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-39-5_2138982933/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..42227eb205746dfcd114aad8306874196f2086fd --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-39-5_2138982933/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 196.33777104580057, + -1573.9923683300149, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 193.73969483444725, + -1575.4923683300149, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 191.14161862309393, + -1576.9923683300149, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 188.54354241174062, + -1578.4923683300149, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 185.9454662003873, + -1579.9923683300149, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 183.34738998903399, + -1581.4923683300149, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 180.74931377768067, + -1582.9923683300149, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 178.15123756632735, + -1584.4923683300149, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 175.55316135497404, + -1585.9923683300149, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 172.95508514362072, + -1587.4923683300149, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 170.3570089322674, + -1588.9923683300149, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 167.7589327209141, + -1590.4923683300149, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 165.16085650956077, + -1591.9923683300149, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 162.56278029820746, + -1593.4923683300149, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 159.96470408685414, + -1594.9923683300149, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 157.36662787550082, + -1596.4923683300149, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 154.7685516641475, + -1597.9923683300149, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 152.1704754527942, + -1599.4923683300149, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 152.1704754527942, + -1599.4923683300149, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 150.6704754527942, + -1602.0904445413682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 149.1704754527942, + -1604.6885207527216, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 147.6704754527942, + -1607.286596964075, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 146.1704754527942, + -1609.8846731754284, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 144.6704754527942, + -1612.4827493867817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 143.1704754527942, + -1615.080825598135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 141.6704754527942, + -1617.6789018094885, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 140.1704754527942, + -1620.2769780208419, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 138.6704754527942, + -1622.8750542321952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 137.1704754527942, + -1625.4731304435486, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 135.6704754527942, + -1628.071206654902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 134.1704754527942, + -1630.6692828662553, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 132.6704754527942, + -1633.2673590776087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 131.1704754527942, + -1635.865435288962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 129.6704754527942, + -1638.4635115003155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 128.1704754527942, + -1641.0615877116688, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 126.6704754527942, + -1643.6596639230222, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 125.1704754527942, + -1646.2577401343756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 123.6704754527942, + -1648.855816345729, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 122.1704754527942, + -1651.4538925570823, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 120.6704754527942, + -1654.0519687684357, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 119.1704754527942, + -1656.650044979789, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 117.6704754527942, + -1659.2481211911424, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 116.1704754527942, + -1661.8461974024958, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 116.1704754527942, + -1661.8461974024958, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 113.57239924144088, + -1663.3461974024958, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 110.97432303008756, + -1664.8461974024958, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 108.37624681873424, + -1666.3461974024958, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 105.77817060738093, + -1667.8461974024958, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 103.18009439602761, + -1669.3461974024958, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 100.5820181846743, + -1670.8461974024958, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 100.5820181846743, + -1670.8461974024958, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 97.5820181846743, + -1670.8461974024958, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-42-59_1567022181/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-42-59_1567022181/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b4948d75dbdd69afc467e2f4c44b2e462c8fa6b2 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-42-59_1567022181/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 85.85423599718106, + -1613.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 88.85423599718106, + -1613.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 91.85423599718106, + -1613.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 94.85423599718106, + -1613.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 97.85423599718106, + -1613.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 100.85423599718106, + -1613.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 103.85423599718106, + -1613.3328249311826, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 103.85423599718106, + -1613.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 106.45231220853438, + -1614.8328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 109.0503884198877, + -1616.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 111.64846463124101, + -1617.8328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 114.24654084259433, + -1619.3328249311826, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 114.24654084259433, + -1619.3328249311826, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 114.24654084259433, + -1619.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 114.24654084259433, + -1622.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 114.24654084259433, + -1625.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 114.24654084259433, + -1628.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 114.24654084259433, + -1631.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 114.24654084259433, + -1634.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 114.24654084259433, + -1637.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 114.24654084259433, + -1640.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 114.24654084259433, + -1643.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 114.24654084259433, + -1646.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 114.24654084259433, + -1649.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 114.24654084259433, + -1652.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 114.24654084259433, + -1655.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 114.24654084259433, + -1658.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 114.24654084259433, + -1661.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 114.24654084259433, + -1664.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 114.24654084259433, + -1667.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 114.24654084259433, + -1670.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 114.24654084259433, + -1673.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 114.24654084259433, + -1676.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 114.24654084259433, + -1679.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 114.24654084259433, + -1682.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 114.24654084259433, + -1685.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 114.24654084259433, + -1688.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 114.24654084259433, + -1691.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 114.24654084259433, + -1694.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 114.24654084259433, + -1697.3328249311826, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 114.24654084259433, + -1697.3328249311826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 115.74654084259433, + -1699.930901142536, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 117.24654084259433, + -1702.5289773538893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 118.74654084259433, + -1705.1270535652427, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 120.24654084259433, + -1707.725129776596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 121.74654084259433, + -1710.3232059879494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 123.24654084259433, + -1712.9212821993028, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 124.74654084259433, + -1715.5193584106562, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 126.24654084259433, + -1718.1174346220096, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 127.74654084259433, + -1720.715510833363, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 129.24654084259433, + -1723.3135870447163, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 130.74654084259433, + -1725.9116632560697, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 132.24654084259433, + -1728.509739467423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 133.74654084259433, + -1731.1078156787764, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 135.24654084259433, + -1733.7058918901298, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 136.74654084259433, + -1736.3039681014832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 138.24654084259433, + -1738.9020443128366, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 139.74654084259433, + -1741.50012052419, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 141.24654084259433, + -1744.0981967355433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 142.74654084259433, + -1746.6962729468967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 144.24654084259433, + -1749.29434915825, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 145.74654084259433, + -1751.8924253696034, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.0, + -1776.0, + -214.057 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-5-28_1289360871/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-5-28_1289360871/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d3af8f24f65f794773731d08a77d54db95b7e106 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-5-28_1289360871/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1031.337912313971, + -2810.3658390468436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1029.837912313971, + -2812.9639152581967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1028.337912313971, + -2815.56199146955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1026.837912313971, + -2818.160067680903, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1025.337912313971, + -2820.758143892256, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1023.837912313971, + -2823.3562201036093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1022.337912313971, + -2825.9542963149624, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1020.837912313971, + -2828.5523725263156, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1019.337912313971, + -2831.1504487376687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1017.837912313971, + -2833.748524949022, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1016.337912313971, + -2836.346601160375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1014.837912313971, + -2838.944677371728, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1013.337912313971, + -2841.5427535830813, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1011.837912313971, + -2844.1408297944345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1010.337912313971, + -2846.7389060057876, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1008.837912313971, + -2849.3369822171408, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1007.337912313971, + -2851.935058428494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1005.837912313971, + -2854.533134639847, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1004.337912313971, + -2857.1312108512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1002.837912313971, + -2859.7292870625533, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1001.337912313971, + -2862.3273632739065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -999.837912313971, + -2864.9254394852596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -998.337912313971, + -2867.523515696613, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -996.837912313971, + -2870.121591907966, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -995.337912313971, + -2872.719668119319, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -993.837912313971, + -2875.317744330672, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -992.337912313971, + -2877.9158205420254, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -990.837912313971, + -2880.5138967533785, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -989.337912313971, + -2883.1119729647316, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -987.837912313971, + -2885.710049176085, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -986.337912313971, + -2888.308125387438, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -984.837912313971, + -2890.906201598791, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -983.337912313971, + -2893.5042778101442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -981.837912313971, + -2896.1023540214974, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -980.337912313971, + -2898.7004302328505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -978.837912313971, + -2901.2985064442037, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -977.337912313971, + -2903.896582655557, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -975.837912313971, + -2906.49465886691, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -975.837912313971, + -2906.49465886691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -973.2398361026176, + -2907.99465886691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -970.6417598912642, + -2909.49465886691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -968.0436836799108, + -2910.99465886691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -965.4456074685575, + -2912.49465886691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -962.8475312572041, + -2913.99465886691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -960.2494550458507, + -2915.49465886691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -957.6513788344973, + -2916.99465886691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -955.053302623144, + -2918.49465886691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -952.4552264117906, + -2919.99465886691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -949.8571502004372, + -2921.49465886691, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-57-20_530788967/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-57-20_530788967/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7585aca0fd97ba1eaf0496ccd64a96f00ce7d7be --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-57-20_530788967/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -951.6576089088651, + -2764.0688201517087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -951.6576089088651, + -2767.0688201517087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -951.6576089088651, + -2770.0688201517087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -951.6576089088651, + -2773.0688201517087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -951.6576089088651, + -2776.0688201517087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -951.6576089088651, + -2779.0688201517087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -951.6576089088651, + -2782.0688201517087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -951.6576089088651, + -2785.0688201517087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -951.6576089088651, + -2788.0688201517087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -951.6576089088651, + -2791.0688201517087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -951.6576089088651, + -2794.0688201517087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -951.6576089088651, + -2797.0688201517087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -951.6576089088651, + -2800.0688201517087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -951.6576089088651, + -2803.0688201517087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -951.6576089088651, + -2806.0688201517087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -951.6576089088651, + -2809.0688201517087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -951.6576089088651, + -2812.0688201517087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -951.6576089088651, + -2815.0688201517087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -951.6576089088651, + -2818.0688201517087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -951.6576089088651, + -2821.0688201517087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -951.6576089088651, + -2824.0688201517087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -951.6576089088651, + -2827.0688201517087, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -951.6576089088651, + -2827.0688201517087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -950.1576089088651, + -2829.666896363062, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -948.6576089088651, + -2832.264972574415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -947.1576089088651, + -2834.863048785768, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -945.6576089088651, + -2837.4611249971213, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -944.1576089088651, + -2840.0592012084744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -942.6576089088651, + -2842.6572774198276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -941.1576089088651, + -2845.2553536311807, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -939.6576089088651, + -2847.853429842534, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -938.1576089088651, + -2850.451506053887, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -936.6576089088651, + -2853.04958226524, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -935.1576089088651, + -2855.6476584765933, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -935.1576089088651, + -2855.6476584765933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -935.1576089088651, + -2858.6476584765933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -935.1576089088651, + -2861.6476584765933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -935.1576089088651, + -2864.6476584765933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -935.1576089088651, + -2867.6476584765933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -935.1576089088651, + -2870.6476584765933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -935.1576089088651, + -2873.6476584765933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -935.1576089088651, + -2876.6476584765933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -935.1576089088651, + -2879.6476584765933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -935.1576089088651, + -2882.6476584765933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -935.1576089088651, + -2885.6476584765933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -935.1576089088651, + -2888.6476584765933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -935.1576089088651, + -2891.6476584765933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -935.1576089088651, + -2894.6476584765933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -935.1576089088651, + -2897.6476584765933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -935.1576089088651, + -2900.6476584765933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -935.1576089088651, + -2903.6476584765933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -935.1576089088651, + -2906.6476584765933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -935.1576089088651, + -2909.6476584765933, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -935.1576089088651, + -2909.6476584765933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -936.6576089088651, + -2912.2457346879464, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -938.1576089088651, + -2914.8438108992996, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -939.6576089088651, + -2917.4418871106527, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-59-23_788380902/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-59-23_788380902/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..209e5b067e0e93967843cec889f25727251b358a --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-59-23_788380902/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 194.63744078444415, + -1587.405521660608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 192.03936457309084, + -1588.905521660608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 189.44128836173752, + -1590.405521660608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 186.8432121503842, + -1591.905521660608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 184.2451359390309, + -1593.405521660608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 181.64705972767757, + -1594.905521660608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 179.04898351632426, + -1596.405521660608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 176.45090730497094, + -1597.905521660608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 173.85283109361762, + -1599.405521660608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 171.2547548822643, + -1600.905521660608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 168.656678670911, + -1602.405521660608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 166.05860245955768, + -1603.905521660608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 163.46052624820436, + -1605.405521660608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 160.86245003685104, + -1606.905521660608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 158.26437382549773, + -1608.405521660608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 155.6662976141444, + -1609.905521660608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 153.0682214027911, + -1611.405521660608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 150.47014519143778, + -1612.905521660608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 147.87206898008446, + -1614.405521660608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 145.27399276873115, + -1615.905521660608, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 145.27399276873115, + -1615.905521660608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 143.77399276873115, + -1618.5035978719613, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 142.27399276873115, + -1621.1016740833147, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 140.77399276873115, + -1623.699750294668, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 139.27399276873115, + -1626.2978265060215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 137.77399276873115, + -1628.8959027173748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 136.27399276873115, + -1631.4939789287282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 134.77399276873115, + -1634.0920551400816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 133.27399276873115, + -1636.690131351435, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 131.77399276873115, + -1639.2882075627883, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 130.27399276873115, + -1641.8862837741417, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 128.77399276873115, + -1644.484359985495, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 127.27399276873115, + -1647.0824361968484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 125.77399276873115, + -1649.6805124082018, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 124.27399276873115, + -1652.2785886195552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 122.77399276873115, + -1654.8766648309086, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 121.27399276873115, + -1657.474741042262, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 119.77399276873115, + -1660.0728172536153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 118.27399276873115, + -1662.6708934649687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 116.77399276873115, + -1665.268969676322, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 116.77399276873115, + -1665.268969676322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 114.17591655737783, + -1666.768969676322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 111.57784034602452, + -1668.268969676322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 108.9797641346712, + -1669.768969676322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 106.38168792331788, + -1671.268969676322, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 106.38168792331788, + -1671.268969676322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 103.38168792331788, + -1671.268969676322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 100.38168792331788, + -1671.268969676322, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-59-50_1321756868/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-59-50_1321756868/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..13c83b62e1606a868bc7bbac41d8565e54a14239 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-59-50_1321756868/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -808.2302674601135, + -1962.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -805.2302674601135, + -1962.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -802.2302674601135, + -1962.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -799.2302674601135, + -1962.671506606591, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -799.2302674601135, + -1962.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -796.6321912487601, + -1961.171506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -794.0341150374068, + -1959.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -791.4360388260534, + -1958.171506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -788.8379626147, + -1956.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -786.2398864033466, + -1955.171506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -783.6418101919933, + -1953.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -781.0437339806399, + -1952.171506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -778.4456577692865, + -1950.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -775.8475815579332, + -1949.171506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -773.2495053465798, + -1947.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -770.6514291352264, + -1946.171506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -768.053352923873, + -1944.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -765.4552767125197, + -1943.171506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -762.8572005011663, + -1941.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -760.2591242898129, + -1940.171506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -757.6610480784595, + -1938.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -755.0629718671062, + -1937.171506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -752.4648956557528, + -1935.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -749.8668194443994, + -1934.171506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -747.268743233046, + -1932.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -744.6706670216927, + -1931.171506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -742.0725908103393, + -1929.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -739.4745145989859, + -1928.171506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -736.8764383876326, + -1926.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -734.2783621762792, + -1925.171506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -731.6802859649258, + -1923.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -729.0822097535724, + -1922.171506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -726.4841335422191, + -1920.671506606591, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -726.4841335422191, + -1920.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -723.4841335422191, + -1920.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -720.4841335422191, + -1920.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -717.4841335422191, + -1920.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -714.4841335422191, + -1920.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -711.4841335422191, + -1920.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -708.4841335422191, + -1920.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -705.4841335422191, + -1920.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -702.4841335422191, + -1920.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -699.4841335422191, + -1920.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -696.4841335422191, + -1920.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -693.4841335422191, + -1920.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -690.4841335422191, + -1920.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -687.4841335422191, + -1920.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -684.4841335422191, + -1920.671506606591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -681.4841335422191, + -1920.671506606591, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-15-37_1124734562/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-15-37_1124734562/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7597d53ec2d9a27343d8a4cc65d371b71ac969ae --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-15-37_1124734562/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 190.02856927001164, + -1593.9031004986186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 187.43049305865833, + -1595.4031004986186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 184.832416847305, + -1596.9031004986186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 182.2343406359517, + -1598.4031004986186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 179.63626442459838, + -1599.9031004986186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 177.03818821324506, + -1601.4031004986186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 174.44011200189175, + -1602.9031004986186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 171.84203579053843, + -1604.4031004986186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 169.24395957918512, + -1605.9031004986186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 166.6458833678318, + -1607.4031004986186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 164.04780715647848, + -1608.9031004986186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 161.44973094512517, + -1610.4031004986186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 158.85165473377185, + -1611.9031004986186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 156.25357852241854, + -1613.4031004986186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 153.65550231106522, + -1614.9031004986186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 151.0574260997119, + -1616.4031004986186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 148.4593498883586, + -1617.9031004986186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 145.86127367700527, + -1619.4031004986186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 143.26319746565196, + -1620.9031004986186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 140.66512125429864, + -1622.4031004986186, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 140.66512125429864, + -1622.4031004986186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 139.16512125429864, + -1625.001176709972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 137.66512125429864, + -1627.5992529213254, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 136.16512125429864, + -1630.1973291326788, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 134.66512125429864, + -1632.7954053440321, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 133.16512125429864, + -1635.3934815553855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 131.66512125429864, + -1637.9915577667389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 130.16512125429864, + -1640.5896339780923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 128.66512125429864, + -1643.1877101894456, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 127.16512125429864, + -1645.785786400799, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 125.66512125429864, + -1648.3838626121524, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 124.16512125429864, + -1650.9819388235057, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 122.66512125429864, + -1653.5800150348591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 121.16512125429864, + -1656.1780912462125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 119.66512125429864, + -1658.7761674575659, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 119.66512125429864, + -1658.7761674575659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 117.06704504294532, + -1660.2761674575659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 114.46896883159201, + -1661.7761674575659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 111.87089262023869, + -1663.2761674575659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 109.27281640888538, + -1664.7761674575659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 106.67474019753206, + -1666.2761674575659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 104.07666398617874, + -1667.7761674575659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 101.47858777482543, + -1669.2761674575659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 98.88051156347211, + -1670.7761674575659, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-17-2_1163384280/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-17-2_1163384280/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d7ae5a849cce9b77fa730631e1e9c525d9bdf9ae --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-17-2_1163384280/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -770.909498013389, + -2023.509046643877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -768.3114218020357, + -2022.009046643877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -765.7133455906824, + -2020.509046643877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -763.115269379329, + -2019.009046643877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -760.5171931679756, + -2017.509046643877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -757.9191169566222, + -2016.009046643877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -755.3210407452689, + -2014.509046643877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -752.7229645339155, + -2013.009046643877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -750.1248883225621, + -2011.509046643877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -747.5268121112088, + -2010.009046643877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -744.9287358998554, + -2008.509046643877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -742.330659688502, + -2007.009046643877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -739.7325834771486, + -2005.509046643877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -737.1345072657953, + -2004.009046643877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -734.5364310544419, + -2002.509046643877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -731.9383548430885, + -2001.009046643877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -729.3402786317351, + -1999.509046643877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -726.7422024203818, + -1998.009046643877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -724.1441262090284, + -1996.509046643877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -721.546049997675, + -1995.009046643877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -718.9479737863217, + -1993.509046643877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -716.3498975749683, + -1992.009046643877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -713.7518213636149, + -1990.509046643877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -711.1537451522615, + -1989.009046643877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -708.5556689409082, + -1987.509046643877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -705.9575927295548, + -1986.009046643877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -703.3595165182014, + -1984.509046643877, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -703.3595165182014, + -1984.509046643877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -701.8595165182014, + -1981.9109704325235, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -700.3595165182014, + -1979.3128942211702, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -698.8595165182014, + -1976.7148180098168, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -697.3595165182014, + -1974.1167417984634, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -695.8595165182014, + -1971.51866558711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -694.3595165182014, + -1968.9205893757567, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -692.8595165182014, + -1966.3225131644033, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -691.3595165182014, + -1963.72443695305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -689.8595165182014, + -1961.1263607416965, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -688.3595165182014, + -1958.5282845303432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -686.8595165182014, + -1955.9302083189898, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -685.3595165182014, + -1953.3321321076364, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -683.8595165182014, + -1950.734055896283, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -682.3595165182014, + -1948.1359796849297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -680.8595165182014, + -1945.5379034735763, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -679.3595165182014, + -1942.939827262223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -677.8595165182014, + -1940.3417510508696, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-25-33_1259577690/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-25-33_1259577690/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9cc29e8b4b9332bd28fcc6f497de58867106efc1 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-25-33_1259577690/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -792.7663915082561, + -2032.990440440693, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -791.2663915082561, + -2030.3923642293396, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -789.7663915082561, + -2027.7942880179862, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -788.2663915082561, + -2025.1962118066328, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -786.7663915082561, + -2022.5981355952795, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -785.2663915082561, + -2020.000059383926, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -783.7663915082561, + -2017.4019831725727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -782.2663915082561, + -2014.8039069612194, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -780.7663915082561, + -2012.205830749866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -779.2663915082561, + -2009.6077545385126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -777.7663915082561, + -2007.0096783271592, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -776.2663915082561, + -2004.4116021158059, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -774.7663915082561, + -2001.8135259044525, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -773.2663915082561, + -1999.2154496930991, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -771.7663915082561, + -1996.6173734817457, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -770.2663915082561, + -1994.0192972703924, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -768.7663915082561, + -1991.421221059039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -767.2663915082561, + -1988.8231448476856, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -765.7663915082561, + -1986.2250686363323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -764.2663915082561, + -1983.6269924249789, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -762.7663915082561, + -1981.0289162136255, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -761.2663915082561, + -1978.4308400022721, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -759.7663915082561, + -1975.8327637909188, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -758.2663915082561, + -1973.2346875795654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -756.7663915082561, + -1970.636611368212, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -755.2663915082561, + -1968.0385351568586, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -753.7663915082561, + -1965.4404589455053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -752.2663915082561, + -1962.842382734152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -750.7663915082561, + -1960.2443065227985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -749.2663915082561, + -1957.6462303114452, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -747.7663915082561, + -1955.0481541000918, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -746.2663915082561, + -1952.4500778887384, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -744.7663915082561, + -1949.852001677385, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -743.2663915082561, + -1947.2539254660317, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -741.7663915082561, + -1944.6558492546783, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -740.2663915082561, + -1942.057773043325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -738.7663915082561, + -1939.4596968319715, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -737.2663915082561, + -1936.8616206206182, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -735.7663915082561, + -1934.2635444092648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -734.2663915082561, + -1931.6654681979114, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -732.7663915082561, + -1929.067391986558, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -731.2663915082561, + -1926.4693157752047, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -729.7663915082561, + -1923.8712395638513, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -729.7663915082561, + -1923.8712395638513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -727.1683152969028, + -1922.3712395638513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -724.5702390855495, + -1920.8712395638513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -721.9721628741961, + -1919.3712395638513, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-36-35_1984498433/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-36-35_1984498433/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..df8d624db3e92555a3ed599034ac46a00a10c8bf --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-36-35_1984498433/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 357.74337157017504, + -1278.8654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 355.1452953588217, + -1280.3654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 352.5472191474684, + -1281.8654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 349.9491429361151, + -1283.3654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 347.3510667247618, + -1284.8654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 344.75299051340846, + -1286.3654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 342.15491430205515, + -1287.8654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 339.55683809070183, + -1289.3654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 336.9587618793485, + -1290.8654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 334.3606856679952, + -1292.3654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 331.7626094566419, + -1293.8654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 329.16453324528857, + -1295.3654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 326.56645703393525, + -1296.8654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 323.96838082258193, + -1298.3654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 321.3703046112286, + -1299.8654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 318.7722283998753, + -1301.3654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 316.174152188522, + -1302.8654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 313.57607597716867, + -1304.3654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 310.97799976581535, + -1305.8654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 308.37992355446204, + -1307.3654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 305.7818473431087, + -1308.8654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 303.1837711317554, + -1310.3654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 300.5856949204021, + -1311.8654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 297.9876187090488, + -1313.3654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 295.38954249769546, + -1314.8654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 292.79146628634214, + -1316.3654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 290.1933900749888, + -1317.8654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 287.5953138636355, + -1319.3654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 284.9972376522822, + -1320.8654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 282.3991614409289, + -1322.3654764000767, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 282.3991614409289, + -1322.3654764000767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 280.8991614409289, + -1324.96355261143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 279.3991614409289, + -1327.5616288227834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 277.8991614409289, + -1330.1597050341368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 276.3991614409289, + -1332.7577812454902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 274.8991614409289, + -1335.3558574568435, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 273.3991614409289, + -1337.953933668197, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 271.8991614409289, + -1340.5520098795503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 270.3991614409289, + -1343.1500860909036, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 268.8991614409289, + -1345.748162302257, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 267.3991614409289, + -1348.3462385136104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 265.8991614409289, + -1350.9443147249638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 264.3991614409289, + -1353.5423909363171, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 262.8991614409289, + -1356.1404671476705, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-38-0_298167279/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-38-0_298167279/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c4ede8cf77ce2b10db903ad0c8152b34c2dddc5f --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-38-0_298167279/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -46.28918369709285, + -1450.5066054746299, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -48.88725990844617, + -1452.0066054746299, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -51.485336119799484, + -1453.5066054746299, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -54.0834123311528, + -1455.0066054746299, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -56.681488542506116, + -1456.5066054746299, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -59.27956475385943, + -1458.0066054746299, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -61.87764096521275, + -1459.5066054746299, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -64.47571717656606, + -1461.0066054746299, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -67.07379338791938, + -1462.5066054746299, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -69.6718695992727, + -1464.0066054746299, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -72.26994581062601, + -1465.5066054746299, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -74.86802202197933, + -1467.0066054746299, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -74.86802202197933, + -1467.0066054746299, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -76.36802202197933, + -1469.6046816859832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -77.86802202197933, + -1472.2027578973366, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -79.36802202197933, + -1474.80083410869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -80.86802202197933, + -1477.3989103200433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -82.36802202197933, + -1479.9969865313967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -83.86802202197933, + -1482.59506274275, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -85.36802202197933, + -1485.1931389541035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -86.86802202197933, + -1487.7912151654568, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -88.36802202197933, + -1490.3892913768102, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -89.86802202197933, + -1492.9873675881636, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -91.36802202197933, + -1495.585443799517, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -92.86802202197933, + -1498.1835200108703, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -94.36802202197933, + -1500.7815962222237, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -94.36802202197933, + -1500.7815962222237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -96.96609823333264, + -1502.2815962222237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -99.56417444468596, + -1503.7815962222237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -102.16225065603928, + -1505.2815962222237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -104.76032686739259, + -1506.7815962222237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -107.35840307874591, + -1508.2815962222237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -109.95647929009922, + -1509.7815962222237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -112.55455550145254, + -1511.2815962222237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -115.15263171280586, + -1512.7815962222237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -117.75070792415917, + -1514.2815962222237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -120.34878413551249, + -1515.7815962222237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -122.9468603468658, + -1517.2815962222237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -125.54493655821912, + -1518.7815962222237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -128.14301276957244, + -1520.2815962222237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -130.74108898092575, + -1521.7815962222237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -133.33916519227907, + -1523.2815962222237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -135.93724140363238, + -1524.7815962222237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -138.5353176149857, + -1526.2815962222237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -141.13339382633902, + -1527.7815962222237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -143.73147003769233, + -1529.2815962222237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -146.32954624904565, + -1530.7815962222237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -148.92762246039896, + -1532.2815962222237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -151.52569867175228, + -1533.7815962222237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -154.1237748831056, + -1535.2815962222237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -156.7218510944589, + -1536.7815962222237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -159.31992730581223, + -1538.2815962222237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -161.91800351716554, + -1539.7815962222237, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-51-8_657103124/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-51-8_657103124/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6a88e48d1b6321962d426564549c9d1e2102a705 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-51-8_657103124/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 379.0094955785137, + -1281.653458706343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 376.41141936716036, + -1283.153458706343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 373.81334315580705, + -1284.653458706343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 371.21526694445373, + -1286.153458706343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 368.6171907331004, + -1287.653458706343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 366.0191145217471, + -1289.153458706343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 363.4210383103938, + -1290.653458706343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 360.82296209904047, + -1292.153458706343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 358.22488588768715, + -1293.653458706343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 355.62680967633383, + -1295.153458706343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 353.0287334649805, + -1296.653458706343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 350.4306572536272, + -1298.153458706343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 347.8325810422739, + -1299.653458706343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 345.23450483092057, + -1301.153458706343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 342.63642861956725, + -1302.653458706343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 340.03835240821394, + -1304.153458706343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 337.4402761968606, + -1305.653458706343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 334.8421999855073, + -1307.153458706343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 332.244123774154, + -1308.653458706343, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 332.244123774154, + -1308.653458706343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 329.244123774154, + -1308.653458706343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 326.244123774154, + -1308.653458706343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 323.244123774154, + -1308.653458706343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 320.244123774154, + -1308.653458706343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 317.244123774154, + -1308.653458706343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 314.244123774154, + -1308.653458706343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 311.244123774154, + -1308.653458706343, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 311.244123774154, + -1308.653458706343, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 311.244123774154, + -1308.653458706343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 309.744123774154, + -1311.2515349176963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 308.244123774154, + -1313.8496111290497, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 306.744123774154, + -1316.447687340403, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 305.244123774154, + -1319.0457635517564, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 303.744123774154, + -1321.6438397631098, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 302.244123774154, + -1324.2419159744632, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 300.744123774154, + -1326.8399921858165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 299.244123774154, + -1329.43806839717, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 297.744123774154, + -1332.0361446085233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 296.244123774154, + -1334.6342208198766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 294.744123774154, + -1337.23229703123, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 293.244123774154, + -1339.8303732425834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 291.744123774154, + -1342.4284494539368, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 291.744123774154, + -1342.4284494539368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 289.1460475628007, + -1343.9284494539368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 286.54797135144736, + -1345.4284494539368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 283.94989514009404, + -1346.9284494539368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 281.3518189287407, + -1348.4284494539368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 278.7537427173874, + -1349.9284494539368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 276.1556665060341, + -1351.4284494539368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 273.5575902946808, + -1352.9284494539368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 270.95951408332746, + -1354.4284494539368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 268.36143787197415, + -1355.9284494539368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 265.76336166062083, + -1357.4284494539368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 263.1652854492675, + -1358.9284494539368, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-53-12_1684677418/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-53-12_1684677418/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..392269af621623592317932789e727cedd90822f --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-53-12_1684677418/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 392.1731843576306, + -1319.5146148683664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 393.6731843576306, + -1316.916538657013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 395.1731843576306, + -1314.3184624456596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 396.6731843576306, + -1311.7203862343063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 398.1731843576306, + -1309.122310022953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 399.6731843576306, + -1306.5242338115995, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 401.1731843576306, + -1303.9261576002461, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 402.6731843576306, + -1301.3280813888928, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 404.1731843576306, + -1298.7300051775394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 405.6731843576306, + -1296.131928966186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 407.1731843576306, + -1293.5338527548327, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 407.1731843576306, + -1293.5338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 409.7712605689839, + -1292.0338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 412.3693367803372, + -1290.5338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 414.96741299169054, + -1289.0338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 417.56548920304385, + -1287.5338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 420.16356541439717, + -1286.0338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 422.7616416257505, + -1284.5338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 425.3597178371038, + -1283.0338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 427.9577940484571, + -1281.5338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 430.55587025981043, + -1280.0338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 433.15394647116375, + -1278.5338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 435.75202268251707, + -1277.0338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 438.3500988938704, + -1275.5338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 440.9481751052237, + -1274.0338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 443.546251316577, + -1272.5338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 446.14432752793033, + -1271.0338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 448.74240373928365, + -1269.5338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 451.34047995063696, + -1268.0338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 453.9385561619903, + -1266.5338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 456.5366323733436, + -1265.0338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 459.1347085846969, + -1263.5338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 461.7327847960502, + -1262.0338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 464.33086100740354, + -1260.5338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 466.92893721875686, + -1259.0338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 469.5270134301102, + -1257.5338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 472.1250896414635, + -1256.0338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 474.7231658528168, + -1254.5338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 477.3212420641701, + -1253.0338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 479.91931827552344, + -1251.5338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 482.51739448687675, + -1250.0338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 485.11547069823007, + -1248.5338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 487.7135469095834, + -1247.0338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 490.3116231209367, + -1245.5338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 492.90969933229, + -1244.0338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 495.50777554364333, + -1242.5338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 498.10585175499665, + -1241.0338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 500.70392796634997, + -1239.5338527548327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 503.3020041777033, + -1238.0338527548327, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-55-27_304505404/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-55-27_304505404/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0ef5d2ffb17b9761c2d1a5c9c7d982180795770b --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-55-27_304505404/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 405.05202361927445, + -1361.3970637004868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 402.45394740792113, + -1359.8970637004868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 399.8558711965678, + -1358.3970637004868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 397.2577949852145, + -1356.8970637004868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 394.6597187738612, + -1355.3970637004868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 392.06164256250787, + -1353.8970637004868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 389.46356635115455, + -1352.3970637004868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 386.86549013980124, + -1350.8970637004868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 384.2674139284479, + -1349.3970637004868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 381.6693377170946, + -1347.8970637004868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 379.0712615057413, + -1346.3970637004868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 376.473185294388, + -1344.8970637004868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 373.87510908303466, + -1343.3970637004868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 371.27703287168134, + -1341.8970637004868, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 371.27703287168134, + -1341.8970637004868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 369.77703287168134, + -1339.2989874891334, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 368.27703287168134, + -1336.70091127778, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 366.77703287168134, + -1334.1028350664267, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 365.27703287168134, + -1331.5047588550733, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 363.77703287168134, + -1328.90668264372, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 362.27703287168134, + -1326.3086064323666, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 360.77703287168134, + -1323.7105302210132, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 359.27703287168134, + -1321.1124540096598, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 357.77703287168134, + -1318.5143777983064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 356.27703287168134, + -1315.916301586953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 354.77703287168134, + -1313.3182253755997, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 353.27703287168134, + -1310.7201491642463, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 351.77703287168134, + -1308.122072952893, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 351.77703287168134, + -1308.122072952893, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 351.77703287168134, + -1308.122072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897833 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 348.77703287168134, + -1308.122072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 345.77703287168134, + -1308.122072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 342.77703287168134, + -1308.122072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 339.77703287168134, + -1308.122072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 336.77703287168134, + -1308.122072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 333.77703287168134, + -1308.122072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 330.77703287168134, + -1308.122072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 327.77703287168134, + -1308.122072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 324.77703287168134, + -1308.122072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 321.77703287168134, + -1308.122072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 318.77703287168134, + -1308.122072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 315.77703287168134, + -1308.122072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 312.77703287168134, + -1308.122072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 309.77703287168134, + -1308.122072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 306.77703287168134, + -1308.122072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 303.77703287168134, + -1308.122072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 300.77703287168134, + -1308.122072952893, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 300.77703287168134, + -1308.122072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 298.178956660328, + -1309.622072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 295.5808804489747, + -1311.122072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 292.9828042376214, + -1312.622072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 290.3847280262681, + -1314.122072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 287.78665181491476, + -1315.622072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 285.18857560356145, + -1317.122072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 282.59049939220813, + -1318.622072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 279.9924231808548, + -1320.122072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 277.3943469695015, + -1321.622072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 274.7962707581482, + -1323.122072952893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 272.19819454679487, + -1324.622072952893, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-9-45_522971726/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-9-45_522971726/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ffb90fb10cbfda0e35968f31b2a2491cc66b4f4 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-9-45_522971726/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -39.22386916610162, + -1828.5475090347372, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -37.72386916610162, + -1825.9494328233839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -36.22386916610162, + -1823.3513566120305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -34.72386916610162, + -1820.753280400677, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -33.22386916610162, + -1818.1552041893237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -31.723869166101622, + -1815.5571279779704, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -31.723869166101622, + -1815.5571279779704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -29.125792954748306, + -1814.0571279779704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -26.52771674339499, + -1812.5571279779704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -23.929640532041674, + -1811.0571279779704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -21.331564320688358, + -1809.5571279779704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -18.733488109335042, + -1808.0571279779704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -16.135411897981726, + -1806.5571279779704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -13.53733568662841, + -1805.0571279779704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -10.939259475275094, + -1803.5571279779704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -8.341183263921778, + -1802.0571279779704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -5.743107052568462, + -1800.5571279779704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -3.1450308412151458, + -1799.0571279779704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -0.5469546298618297, + -1797.5571279779704, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -0.5469546298618297, + -1797.5571279779704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 0.9530453701381707, + -1794.959051766617, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2.453045370138171, + -1792.3609755552636, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3.9530453701381716, + -1789.7628993439102, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 5.453045370138172, + -1787.1648231325569, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 6.953045370138172, + -1784.5667469212035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 8.453045370138172, + -1781.9686707098501, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 9.953045370138172, + -1779.3705944984968, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 11.453045370138172, + -1776.7725182871434, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 12.953045370138172, + -1774.17444207579, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 14.453045370138172, + -1771.5763658644366, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 15.953045370138172, + -1768.9782896530833, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 17.453045370138174, + -1766.38021344173, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966067 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 18.953045370138174, + -1763.7821372303765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 20.453045370138174, + -1761.1840610190231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 21.953045370138174, + -1758.5859848076698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 23.453045370138174, + -1755.9879085963164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 24.953045370138174, + -1753.389832384963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 26.453045370138174, + -1750.7917561736097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 27.953045370138174, + -1748.1936799622563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 29.453045370138174, + -1745.595603750903, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 30.953045370138174, + -1742.9975275395495, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 32.45304537013818, + -1740.3994513281962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966063 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 33.95304537013818, + -1737.8013751168428, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 35.45304537013818, + -1735.2032989054894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 36.95304537013818, + -1732.605222694136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 38.45304537013818, + -1730.0071464827827, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 39.95304537013818, + -1727.4090702714293, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 39.95304537013818, + -1727.4090702714293, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 42.55112158149149, + -1725.9090702714293, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-14-20_2125023787/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-14-20_2125023787/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dcce83b74ba018abbbf5aeb7b2eb02ab9ec919c0 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-14-20_2125023787/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -62.907039141897926, + -1433.0321076529406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -64.40703914189793, + -1435.630183864294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -65.90703914189793, + -1438.2282600756473, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -67.40703914189793, + -1440.8263362870007, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -68.90703914189793, + -1443.424412498354, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -70.40703914189793, + -1446.0224887097074, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -71.90703914189793, + -1448.6205649210608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -73.40703914189793, + -1451.2186411324142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -74.90703914189793, + -1453.8167173437676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -76.40703914189793, + -1456.414793555121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -77.90703914189793, + -1459.0128697664743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -79.40703914189793, + -1461.6109459778277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -80.90703914189793, + -1464.209022189181, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -82.40703914189793, + -1466.8070984005344, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -83.90703914189793, + -1469.4051746118878, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -85.40703914189793, + -1472.0032508232412, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -86.90703914189793, + -1474.6013270345945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -88.40703914189793, + -1477.199403245948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -89.90703914189793, + -1479.7974794573013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -91.40703914189793, + -1482.3955556686547, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -92.90703914189793, + -1484.993631880008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -94.40703914189793, + -1487.5917080913614, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -95.90703914189793, + -1490.1897843027148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -97.40703914189793, + -1492.7878605140681, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -98.90703914189793, + -1495.3859367254215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -100.40703914189793, + -1497.984012936775, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -101.90703914189793, + -1500.5820891481283, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -103.40703914189793, + -1503.1801653594816, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -103.40703914189793, + -1503.1801653594816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -106.00511535325124, + -1504.6801653594816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -108.60319156460456, + -1506.1801653594816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -111.20126777595787, + -1507.6801653594816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -113.79934398731119, + -1509.1801653594816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -116.3974201986645, + -1510.6801653594816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -118.99549641001782, + -1512.1801653594816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -121.59357262137114, + -1513.6801653594816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -124.19164883272445, + -1515.1801653594816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -126.78972504407777, + -1516.6801653594816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -129.3878012554311, + -1518.1801653594816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -131.98587746678442, + -1519.6801653594816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -134.58395367813773, + -1521.1801653594816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -137.18202988949105, + -1522.6801653594816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -139.78010610084436, + -1524.1801653594816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -142.37818231219768, + -1525.6801653594816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -144.976258523551, + -1527.1801653594816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -147.5743347349043, + -1528.6801653594816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -150.17241094625763, + -1530.1801653594816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -152.77048715761094, + -1531.6801653594816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -155.36856336896426, + -1533.1801653594816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -157.96663958031758, + -1534.6801653594816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -160.5647157916709, + -1536.1801653594816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -163.1627920030242, + -1537.6801653594816, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-15-19_1651675551/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-15-19_1651675551/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cf0d97c153ebd78d1feb5b68fc3cde692d39d1b2 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-15-19_1651675551/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -810.7943795750723, + -1757.232358411269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -807.7943795750723, + -1757.232358411269, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -807.7943795750723, + -1757.232358411269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -805.1963033637189, + -1758.732358411269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -802.5982271523656, + -1760.232358411269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -800.0001509410122, + -1761.732358411269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -797.4020747296588, + -1763.232358411269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -794.8039985183054, + -1764.732358411269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -792.2059223069521, + -1766.232358411269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -789.6078460955987, + -1767.732358411269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -787.0097698842453, + -1769.232358411269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -784.4116936728919, + -1770.732358411269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -781.8136174615386, + -1772.232358411269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -779.2155412501852, + -1773.732358411269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -776.6174650388318, + -1775.232358411269, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -776.6174650388318, + -1775.232358411269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -775.1174650388318, + -1777.8304346226223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -773.6174650388318, + -1780.4285108339757, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -772.1174650388318, + -1783.026587045329, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -770.6174650388318, + -1785.6246632566824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -769.1174650388318, + -1788.2227394680358, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -767.6174650388318, + -1790.8208156793892, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -766.1174650388318, + -1793.4188918907425, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -764.6174650388318, + -1796.016968102096, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -763.1174650388318, + -1798.6150443134493, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -761.6174650388318, + -1801.2131205248027, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -760.1174650388318, + -1803.811196736156, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -758.6174650388318, + -1806.4092729475094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -757.1174650388318, + -1809.0073491588628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -755.6174650388318, + -1811.6054253702162, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -754.1174650388318, + -1814.2035015815695, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -752.6174650388318, + -1816.801577792923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -751.1174650388318, + -1819.3996540042763, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -749.6174650388318, + -1821.9977302156296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -748.1174650388318, + -1824.595806426983, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -746.6174650388318, + -1827.1938826383364, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -745.1174650388318, + -1829.7919588496898, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -743.6174650388318, + -1832.3900350610431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -742.1174650388318, + -1834.9881112723965, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -740.6174650388318, + -1837.5861874837499, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -739.1174650388318, + -1840.1842636951033, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -737.6174650388318, + -1842.7823399064566, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -736.1174650388318, + -1845.38041611781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -734.6174650388318, + -1847.9784923291634, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -733.1174650388318, + -1850.5765685405167, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -731.6174650388318, + -1853.1746447518701, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -730.1174650388318, + -1855.7727209632235, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -728.6174650388318, + -1858.3707971745769, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -727.1174650388318, + -1860.9688733859302, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -725.6174650388318, + -1863.5669495972836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -724.1174650388318, + -1866.165025808637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -722.6174650388318, + -1868.7631020199904, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -721.1174650388318, + -1871.3611782313437, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-24-19_312186354/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-24-19_312186354/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b77ff1cc5695d139fe6f537f1d38a99fcdd5bdf2 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-24-19_312186354/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -97.12452267718618, + -1504.6862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -99.7225988885395, + -1503.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -102.32067509989281, + -1501.6862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -104.91875131124613, + -1500.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -107.51682752259944, + -1498.6862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -110.11490373395276, + -1497.1862051182784, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -110.11490373395276, + -1497.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -113.11490373395276, + -1497.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -116.11490373395276, + -1497.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -119.11490373395276, + -1497.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -122.11490373395276, + -1497.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -125.11490373395276, + -1497.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -128.11490373395276, + -1497.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -131.11490373395276, + -1497.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -134.11490373395276, + -1497.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -137.11490373395276, + -1497.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -140.11490373395276, + -1497.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -143.11490373395276, + -1497.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -146.11490373395276, + -1497.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -149.11490373395276, + -1497.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -152.11490373395276, + -1497.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -155.11490373395276, + -1497.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -158.11490373395276, + -1497.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -161.11490373395276, + -1497.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -164.11490373395276, + -1497.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -167.11490373395276, + -1497.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -170.11490373395276, + -1497.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -173.11490373395276, + -1497.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -176.11490373395276, + -1497.1862051182784, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -176.11490373395276, + -1497.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -178.71297994530607, + -1495.6862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -181.3110561566594, + -1494.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -183.9091323680127, + -1492.6862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -186.50720857936602, + -1491.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -189.10528479071934, + -1489.6862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -191.70336100207265, + -1488.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -194.30143721342597, + -1486.6862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -196.8995134247793, + -1485.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -199.4975896361326, + -1483.6862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -202.09566584748592, + -1482.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -204.69374205883923, + -1480.6862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -207.29181827019255, + -1479.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -209.88989448154587, + -1477.6862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -212.48797069289918, + -1476.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -215.0860469042525, + -1474.6862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -217.68412311560581, + -1473.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -220.28219932695913, + -1471.6862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -222.88027553831245, + -1470.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -225.47835174966576, + -1468.6862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -228.07642796101908, + -1467.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -230.6745041723724, + -1465.6862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -233.2725803837257, + -1464.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -235.87065659507903, + -1462.6862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -238.46873280643234, + -1461.1862051182784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -241.06680901778566, + -1459.6862051182784, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-25-21_2016408437/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-25-21_2016408437/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..55a477467117d1b3abf878504897036a60eb4296 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-25-21_2016408437/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 44.42585947501354, + -1644.147522983322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 44.42585947501354, + -1647.147522983322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 44.42585947501354, + -1650.147522983322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 44.42585947501354, + -1653.147522983322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 44.42585947501354, + -1656.147522983322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 44.42585947501354, + -1659.147522983322, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 44.42585947501354, + -1659.147522983322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 45.92585947501354, + -1661.7455991946754, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 47.42585947501354, + -1664.3436754060288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 48.92585947501354, + -1666.9417516173821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 50.42585947501354, + -1669.5398278287355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 51.92585947501354, + -1672.1379040400889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 53.42585947501354, + -1674.7359802514422, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 54.92585947501354, + -1677.3340564627956, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 56.42585947501354, + -1679.932132674149, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 57.92585947501354, + -1682.5302088855024, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 59.42585947501354, + -1685.1282850968557, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 60.92585947501354, + -1687.726361308209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 62.42585947501354, + -1690.3244375195625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 63.92585947501354, + -1692.9225137309159, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 65.42585947501354, + -1695.5205899422692, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 66.92585947501354, + -1698.1186661536226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 68.42585947501354, + -1700.716742364976, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 69.92585947501354, + -1703.3148185763293, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 71.42585947501354, + -1705.9128947876827, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 72.92585947501354, + -1708.510970999036, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 74.42585947501354, + -1711.1090472103895, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 75.92585947501354, + -1713.7071234217428, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 77.42585947501354, + -1716.3051996330962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 78.92585947501354, + -1718.9032758444496, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 78.92585947501354, + -1718.9032758444496, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 81.52393568636685, + -1720.4032758444496, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 84.12201189772017, + -1721.9032758444496, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 86.72008810907349, + -1723.4032758444496, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 89.3181643204268, + -1724.9032758444496, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 91.91624053178012, + -1726.4032758444496, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 94.51431674313343, + -1727.9032758444496, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 97.11239295448675, + -1729.4032758444496, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 99.71046916584007, + -1730.9032758444496, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 102.30854537719338, + -1732.4032758444496, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 104.9066215885467, + -1733.9032758444496, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 107.50469779990001, + -1735.4032758444496, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 110.10277401125333, + -1736.9032758444496, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 112.70085022260665, + -1738.4032758444496, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 115.29892643395996, + -1739.9032758444496, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 117.89700264531328, + -1741.4032758444496, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 120.4950788566666, + -1742.9032758444496, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 123.09315506801991, + -1744.4032758444496, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 125.69123127937323, + -1745.9032758444496, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 128.28930749072654, + -1747.4032758444496, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 130.88738370207986, + -1748.9032758444496, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 133.48545991343317, + -1750.4032758444496, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 136.0835361247865, + -1751.9032758444496, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.0, + -1776.0, + -214.057 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-28-11_263419017/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-28-11_263419017/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c7aed1989e118499e6f6b76c94ec3d7165e9e308 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-28-11_263419017/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 399.46111558975576, + -1311.2071435847631, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 396.46111558975576, + -1311.2071435847631, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 393.46111558975576, + -1311.2071435847631, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 390.46111558975576, + -1311.2071435847631, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 387.46111558975576, + -1311.2071435847631, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 384.46111558975576, + -1311.2071435847631, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 381.46111558975576, + -1311.2071435847631, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 378.46111558975576, + -1311.2071435847631, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 375.46111558975576, + -1311.2071435847631, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 372.46111558975576, + -1311.2071435847631, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 369.46111558975576, + -1311.2071435847631, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 366.46111558975576, + -1311.2071435847631, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 363.46111558975576, + -1311.2071435847631, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 360.46111558975576, + -1311.2071435847631, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 357.46111558975576, + -1311.2071435847631, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 354.46111558975576, + -1311.2071435847631, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 354.46111558975576, + -1311.2071435847631, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 354.46111558975576, + -1311.2071435847631, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 352.96111558975576, + -1308.6090673734097, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 352.96111558975576, + -1308.6090673734097, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 352.96111558975576, + -1308.6090673734097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897833 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 349.96111558975576, + -1308.6090673734097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 346.96111558975576, + -1308.6090673734097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 343.96111558975576, + -1308.6090673734097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 340.96111558975576, + -1308.6090673734097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 337.96111558975576, + -1308.6090673734097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 334.96111558975576, + -1308.6090673734097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 331.96111558975576, + -1308.6090673734097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 328.96111558975576, + -1308.6090673734097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 325.96111558975576, + -1308.6090673734097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 322.96111558975576, + -1308.6090673734097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 319.96111558975576, + -1308.6090673734097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 316.96111558975576, + -1308.6090673734097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 313.96111558975576, + -1308.6090673734097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 310.96111558975576, + -1308.6090673734097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 307.96111558975576, + -1308.6090673734097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 304.96111558975576, + -1308.6090673734097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 301.96111558975576, + -1308.6090673734097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 298.96111558975576, + -1308.6090673734097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 295.96111558975576, + -1308.6090673734097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 292.96111558975576, + -1308.6090673734097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 289.96111558975576, + -1308.6090673734097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 286.96111558975576, + -1308.6090673734097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 283.96111558975576, + -1308.6090673734097, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 283.96111558975576, + -1308.6090673734097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 281.36303937840245, + -1310.1090673734097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 278.76496316704913, + -1311.6090673734097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 276.1668869556958, + -1313.1090673734097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 273.5688107443425, + -1314.6090673734097, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-36-53_959658925/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-36-53_959658925/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da4e202ce8956a4f8d7c3f95745c387a83ffe210 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-36-53_959658925/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 379.20557316597575, + -1468.7972851566967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 376.60749695462243, + -1470.2972851566967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 374.0094207432691, + -1471.7972851566967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 371.4113445319158, + -1473.2972851566967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 368.8132683205625, + -1474.7972851566967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 366.21519210920917, + -1476.2972851566967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 363.61711589785585, + -1477.7972851566967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 361.01903968650254, + -1479.2972851566967, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 361.01903968650254, + -1479.2972851566967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 358.01903968650254, + -1479.2972851566967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 355.01903968650254, + -1479.2972851566967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 352.01903968650254, + -1479.2972851566967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 349.01903968650254, + -1479.2972851566967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 346.01903968650254, + -1479.2972851566967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 343.01903968650254, + -1479.2972851566967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 340.01903968650254, + -1479.2972851566967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 337.01903968650254, + -1479.2972851566967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 334.01903968650254, + -1479.2972851566967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 331.01903968650254, + -1479.2972851566967, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 331.01903968650254, + -1479.2972851566967, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 331.01903968650254, + -1479.2972851566967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 329.51903968650254, + -1481.89536136805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 328.01903968650254, + -1484.4934375794035, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 328.01903968650254, + -1484.4934375794035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 325.4209634751492, + -1485.9934375794035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 322.8228872637959, + -1487.4934375794035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 320.2248110524426, + -1488.9934375794035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 317.6267348410893, + -1490.4934375794035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 315.02865862973596, + -1491.9934375794035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 312.43058241838264, + -1493.4934375794035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 309.8325062070293, + -1494.9934375794035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 307.234429995676, + -1496.4934375794035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 304.6363537843227, + -1497.9934375794035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 302.0382775729694, + -1499.4934375794035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 299.44020136161606, + -1500.9934375794035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 296.84212515026275, + -1502.4934375794035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 294.24404893890943, + -1503.9934375794035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 291.6459727275561, + -1505.4934375794035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 289.0478965162028, + -1506.9934375794035, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 289.0478965162028, + -1506.9934375794035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 287.5478965162028, + -1509.5915137907568, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 286.0478965162028, + -1512.1895900021102, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 284.5478965162028, + -1514.7876662134636, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 283.0478965162028, + -1517.385742424817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 281.5478965162028, + -1519.9838186361703, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 280.0478965162028, + -1522.5818948475237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 278.5478965162028, + -1525.179971058877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 277.0478965162028, + -1527.7780472702304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 275.5478965162028, + -1530.3761234815838, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 274.0478965162028, + -1532.9741996929372, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 272.5478965162028, + -1535.5722759042906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 271.0478965162028, + -1538.170352115644, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 269.5478965162028, + -1540.7684283269973, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 268.0478965162028, + -1543.3665045383507, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1560.0, + -206.55 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-41-15_1564003050/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-41-15_1564003050/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0dc38c2281a539c36a4e038d92d50a7a3d137cc9 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-41-15_1564003050/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -666.4336944520833, + -1788.0572315710165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -667.9336944520833, + -1790.6553077823698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -669.4336944520833, + -1793.2533839937232, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -670.9336944520833, + -1795.8514602050766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -672.4336944520833, + -1798.44953641643, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -673.9336944520833, + -1801.0476126277833, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -675.4336944520833, + -1803.6456888391367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -676.9336944520833, + -1806.24376505049, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -678.4336944520833, + -1808.8418412618435, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -679.9336944520833, + -1811.4399174731968, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -681.4336944520833, + -1814.0379936845502, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -682.9336944520833, + -1816.6360698959036, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -684.4336944520833, + -1819.234146107257, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -685.9336944520833, + -1821.8322223186103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -687.4336944520833, + -1824.4302985299637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -688.9336944520833, + -1827.028374741317, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -690.4336944520833, + -1829.6264509526704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -691.9336944520833, + -1832.2245271640238, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -693.4336944520833, + -1834.8226033753772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -694.9336944520833, + -1837.4206795867306, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -694.9336944520833, + -1837.4206795867306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -694.9336944520833, + -1840.4206795867306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -694.9336944520833, + -1843.4206795867306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -694.9336944520833, + -1846.4206795867306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -694.9336944520833, + -1849.4206795867306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -694.9336944520833, + -1852.4206795867306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -694.9336944520833, + -1855.4206795867306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -694.9336944520833, + -1858.4206795867306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -694.9336944520833, + -1861.4206795867306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -694.9336944520833, + -1864.4206795867306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -694.9336944520833, + -1867.4206795867306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -694.9336944520833, + -1870.4206795867306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -694.9336944520833, + -1873.4206795867306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -694.9336944520833, + -1876.4206795867306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -694.9336944520833, + -1879.4206795867306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -694.9336944520833, + -1882.4206795867306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -694.9336944520833, + -1885.4206795867306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -694.9336944520833, + -1888.4206795867306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -694.9336944520833, + -1891.4206795867306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -694.9336944520833, + -1894.4206795867306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -694.9336944520833, + -1897.4206795867306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -694.9336944520833, + -1900.4206795867306, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -694.9336944520833, + -1900.4206795867306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -696.4336944520833, + -1903.018755798084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -697.9336944520833, + -1905.6168320094373, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -699.4336944520833, + -1908.2149082207907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -700.9336944520833, + -1910.812984432144, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -702.4336944520833, + -1913.4110606434974, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -703.9336944520833, + -1916.0091368548508, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -705.4336944520833, + -1918.6072130662042, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -706.9336944520833, + -1921.2052892775575, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -712.0, + -1940.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-53-51_1131352346/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-53-51_1131352346/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac4c42cb61868d6c98d7c7c011b9bf8955e1eeba --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-53-51_1131352346/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 402.10115134429986, + -1305.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 399.50307513294655, + -1307.1561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 396.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 396.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 393.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 390.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 387.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 384.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 381.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 378.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 375.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 372.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 369.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 366.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 363.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 360.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 357.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 354.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 351.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 348.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 345.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 342.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 339.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 336.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 333.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 330.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 327.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 324.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 321.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 318.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 315.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 312.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 312.90499892159323, + -1308.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 310.3069227102399, + -1310.1561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 307.7088464988866, + -1311.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 305.1107702875333, + -1313.1561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 302.51269407617997, + -1314.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 299.91461786482665, + -1316.1561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 297.31654165347334, + -1317.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 294.71846544212, + -1319.1561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 292.1203892307667, + -1320.6561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 289.5223130194134, + -1322.1561662534039, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 289.5223130194134, + -1322.1561662534039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 288.0223130194134, + -1324.7542424647572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 286.5223130194134, + -1327.3523186761106, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 285.0223130194134, + -1329.950394887464, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 283.5223130194134, + -1332.5484710988173, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 282.0223130194134, + -1335.1465473101707, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 280.5223130194134, + -1337.744623521524, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 279.0223130194134, + -1340.3426997328775, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 277.5223130194134, + -1342.9407759442308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 276.0223130194134, + -1345.5388521555842, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 274.5223130194134, + -1348.1369283669376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 273.0223130194134, + -1350.735004578291, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 271.5223130194134, + -1353.3330807896443, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 270.0223130194134, + -1355.9311570009977, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 268.5223130194134, + -1358.529233212351, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 267.0223130194134, + -1361.1273094237044, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 265.5223130194134, + -1363.7253856350578, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-15-34_1018041598/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-15-34_1018041598/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5c22f61aca31e9960abbbdf68419584570a4539d --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-15-34_1018041598/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 385.44217152214094, + -1332.908690011065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 388.04024773349425, + -1331.408690011065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 390.63832394484757, + -1329.908690011065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 393.2364001562009, + -1328.408690011065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 395.8344763675542, + -1326.908690011065, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 395.8344763675542, + -1326.908690011065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 397.3344763675542, + -1324.3106137997115, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 398.8344763675542, + -1321.7125375883581, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 400.3344763675542, + -1319.1144613770048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 401.8344763675542, + -1316.5163851656514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 403.3344763675542, + -1313.918308954298, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 404.8344763675542, + -1311.3202327429447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 406.3344763675542, + -1308.7221565315913, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 407.8344763675542, + -1306.124080320238, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 409.3344763675542, + -1303.5260041088845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 410.8344763675542, + -1300.9279278975312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 412.3344763675542, + -1298.3298516861778, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 413.8344763675542, + -1295.7317754748244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 415.3344763675542, + -1293.133699263471, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 416.8344763675542, + -1290.5356230521177, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 416.8344763675542, + -1290.5356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 419.4325525789075, + -1289.0356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 422.03062879026083, + -1287.5356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 424.62870500161415, + -1286.0356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 427.22678121296747, + -1284.5356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 429.8248574243208, + -1283.0356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 432.4229336356741, + -1281.5356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 435.0210098470274, + -1280.0356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 437.61908605838073, + -1278.5356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 440.21716226973405, + -1277.0356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 442.81523848108736, + -1275.5356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 445.4133146924407, + -1274.0356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 448.011390903794, + -1272.5356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 450.6094671151473, + -1271.0356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 453.2075433265006, + -1269.5356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 455.80561953785394, + -1268.0356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 458.40369574920726, + -1266.5356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 461.0017719605606, + -1265.0356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 463.5998481719139, + -1263.5356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 466.1979243832672, + -1262.0356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 468.7960005946205, + -1260.5356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 471.39407680597384, + -1259.0356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 473.99215301732715, + -1257.5356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 476.59022922868047, + -1256.0356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 479.1883054400338, + -1254.5356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 481.7863816513871, + -1253.0356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 484.3844578627404, + -1251.5356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 486.98253407409373, + -1250.0356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 489.58061028544705, + -1248.5356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 492.17868649680037, + -1247.0356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 494.7767627081537, + -1245.5356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 497.374838919507, + -1244.0356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 499.9729151308603, + -1242.5356230521177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 502.57099134221363, + -1241.0356230521177, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-2-41_1663568111/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-2-41_1663568111/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..010127cea54c2e74ac9beef9b8ea19515ae85291 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-2-41_1663568111/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -833.9297973743157, + -1783.4639617979726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -830.9297973743157, + -1783.4639617979726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -827.9297973743157, + -1783.4639617979726, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -827.9297973743157, + -1783.4639617979726, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -827.9297973743157, + -1783.4639617979726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -826.4297973743157, + -1786.062038009326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -824.9297973743157, + -1788.6601142206794, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -823.4297973743157, + -1791.2581904320327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -821.9297973743157, + -1793.856266643386, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -820.4297973743157, + -1796.4543428547395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -818.9297973743157, + -1799.0524190660929, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -817.4297973743157, + -1801.6504952774462, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -815.9297973743157, + -1804.2485714887996, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -814.4297973743157, + -1806.846647700153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -812.9297973743157, + -1809.4447239115063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -811.4297973743157, + -1812.0428001228597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -809.9297973743157, + -1814.640876334213, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -808.4297973743157, + -1817.2389525455665, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -806.9297973743157, + -1819.8370287569198, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -805.4297973743157, + -1822.4351049682732, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -803.9297973743157, + -1825.0331811796266, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -802.4297973743157, + -1827.63125739098, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -800.9297973743157, + -1830.2293336023333, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -799.4297973743157, + -1832.8274098136867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -797.9297973743157, + -1835.42548602504, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -797.9297973743157, + -1835.42548602504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -795.3317211629624, + -1836.92548602504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -792.733644951609, + -1838.42548602504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -790.1355687402556, + -1839.92548602504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -787.5374925289022, + -1841.42548602504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -784.9394163175489, + -1842.92548602504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -782.3413401061955, + -1844.42548602504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -779.7432638948421, + -1845.92548602504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -777.1451876834888, + -1847.42548602504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -774.5471114721354, + -1848.92548602504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -771.949035260782, + -1850.42548602504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -769.3509590494286, + -1851.92548602504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -766.7528828380753, + -1853.42548602504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -764.1548066267219, + -1854.92548602504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -761.5567304153685, + -1856.42548602504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -758.9586542040151, + -1857.92548602504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -756.3605779926618, + -1859.42548602504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -753.7625017813084, + -1860.92548602504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -751.164425569955, + -1862.42548602504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -748.5663493586017, + -1863.92548602504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -745.9682731472483, + -1865.42548602504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -743.3701969358949, + -1866.92548602504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -740.7721207245415, + -1868.42548602504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -738.1740445131882, + -1869.92548602504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -735.5759683018348, + -1871.42548602504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -732.9778920904814, + -1872.92548602504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -730.379815879128, + -1874.42548602504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -727.7817396677747, + -1875.92548602504, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-51-20_1010764797/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-51-20_1010764797/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e1c6baa046d47dcd94851dbd7e95e1da85e75fb7 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-51-20_1010764797/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 409.2055704581383, + -1364.7891300159922, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 406.607494246785, + -1363.2891300159922, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 404.0094180354317, + -1361.7891300159922, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 401.41134182407836, + -1360.2891300159922, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 398.81326561272505, + -1358.7891300159922, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 396.21518940137173, + -1357.2891300159922, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 393.6171131900184, + -1355.7891300159922, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 391.0190369786651, + -1354.2891300159922, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 388.4209607673118, + -1352.7891300159922, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 385.82288455595847, + -1351.2891300159922, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 383.22480834460515, + -1349.7891300159922, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 380.62673213325183, + -1348.2891300159922, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 378.0286559218985, + -1346.7891300159922, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 378.0286559218985, + -1346.7891300159922, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 376.5286559218985, + -1344.1910538046388, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 375.0286559218985, + -1341.5929775932855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 373.5286559218985, + -1338.994901381932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 372.0286559218985, + -1336.3968251705787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 370.5286559218985, + -1333.7987489592253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 369.0286559218985, + -1331.200672747872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 367.5286559218985, + -1328.6025965365186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 366.0286559218985, + -1326.0045203251652, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 364.5286559218985, + -1323.4064441138119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 363.0286559218985, + -1320.8083679024585, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 361.5286559218985, + -1318.210291691105, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 360.0286559218985, + -1315.6122154797517, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 358.5286559218985, + -1313.0141392683984, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 357.0286559218985, + -1310.416063057045, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 355.5286559218985, + -1307.8179868456916, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 355.5286559218985, + -1307.8179868456916, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 355.5286559218985, + -1307.8179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897833 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 352.5286559218985, + -1307.8179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 349.5286559218985, + -1307.8179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 346.5286559218985, + -1307.8179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 343.5286559218985, + -1307.8179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 340.5286559218985, + -1307.8179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 337.5286559218985, + -1307.8179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 334.5286559218985, + -1307.8179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 331.5286559218985, + -1307.8179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 328.5286559218985, + -1307.8179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 325.5286559218985, + -1307.8179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 322.5286559218985, + -1307.8179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 319.5286559218985, + -1307.8179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 316.5286559218985, + -1307.8179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 313.5286559218985, + -1307.8179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 310.5286559218985, + -1307.8179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 307.5286559218985, + -1307.8179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 304.5286559218985, + -1307.8179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 301.5286559218985, + -1307.8179868456916, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 301.5286559218985, + -1307.8179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 298.9305797105452, + -1309.3179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 296.3325034991919, + -1310.8179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 293.73442728783857, + -1312.3179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 291.13635107648525, + -1313.8179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 288.53827486513194, + -1315.3179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 285.9401986537786, + -1316.8179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 283.3421224424253, + -1318.3179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 280.744046231072, + -1319.8179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 278.1459700197187, + -1321.3179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 275.54789380836536, + -1322.8179868456916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 272.94981759701204, + -1324.3179868456916, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-52-50_568122272/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-52-50_568122272/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..24f00c19477b6bb9c1ddbcf7fef7e597aa9e6cb6 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-52-50_568122272/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 374.2685812986625, + -1445.154133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 371.6705050873092, + -1446.654133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 369.0724288759559, + -1448.154133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 366.4743526646026, + -1449.654133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 363.87627645324926, + -1451.154133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 361.27820024189595, + -1452.654133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 358.68012403054263, + -1454.154133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 356.0820478191893, + -1455.654133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 353.483971607836, + -1457.154133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 350.8858953964827, + -1458.654133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 348.28781918512936, + -1460.154133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 345.68974297377605, + -1461.654133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 343.09166676242273, + -1463.154133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 340.4935905510694, + -1464.654133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 337.8955143397161, + -1466.154133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 335.2974381283628, + -1467.654133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 332.69936191700947, + -1469.154133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 330.10128570565615, + -1470.654133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 327.50320949430284, + -1472.154133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 324.9051332829495, + -1473.654133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 322.3070570715962, + -1475.154133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 319.7089808602429, + -1476.654133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 317.1109046488896, + -1478.154133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 314.51282843753626, + -1479.654133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 311.91475222618294, + -1481.154133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 309.3166760148296, + -1482.654133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 306.7185998034763, + -1484.154133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 304.120523592123, + -1485.654133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 301.5224473807697, + -1487.154133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 298.92437116941636, + -1488.654133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 296.32629495806304, + -1490.154133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 293.72821874670973, + -1491.654133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 291.1301425353564, + -1493.154133796387, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 291.1301425353564, + -1493.154133796387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 289.6301425353564, + -1495.7522100077404, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 288.1301425353564, + -1498.3502862190937, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 286.6301425353564, + -1500.948362430447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 285.1301425353564, + -1503.5464386418005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 283.6301425353564, + -1506.1445148531539, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 282.1301425353564, + -1508.7425910645072, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 280.6301425353564, + -1511.3406672758606, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 279.1301425353564, + -1513.938743487214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 277.6301425353564, + -1516.5368196985673, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 276.1301425353564, + -1519.1348959099207, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 274.6301425353564, + -1521.732972121274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 273.1301425353564, + -1524.3310483326275, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 271.6301425353564, + -1526.9291245439808, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 270.1301425353564, + -1529.5272007553342, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 268.6301425353564, + -1532.1252769666876, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 267.1301425353564, + -1534.723353178041, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 265.6301425353564, + -1537.3214293893943, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 264.1301425353564, + -1539.9195056007477, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 262.6301425353564, + -1542.517581812101, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1560.0, + -206.55 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-53-47_1558581086/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-53-47_1558581086/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..87ad1cd41be3486f392b6cdfb095f2c0f9d21912 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-53-47_1558581086/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 391.70695295151444, + -1330.4203594555213, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 390.20695295151444, + -1333.0184356668747, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 388.70695295151444, + -1335.616511878228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 387.20695295151444, + -1338.2145880895814, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 385.70695295151444, + -1340.8126643009348, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 384.20695295151444, + -1343.4107405122882, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 382.70695295151444, + -1346.0088167236415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 381.20695295151444, + -1348.606892934995, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 379.70695295151444, + -1351.2049691463483, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 378.20695295151444, + -1353.8030453577016, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 376.70695295151444, + -1356.401121569055, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 376.70695295151444, + -1356.401121569055, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 374.1088767401611, + -1357.901121569055, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 371.5108005288078, + -1359.401121569055, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 368.9127243174545, + -1360.901121569055, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 366.3146481061012, + -1362.401121569055, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 363.71657189474786, + -1363.901121569055, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 361.11849568339454, + -1365.401121569055, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 358.5204194720412, + -1366.901121569055, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 358.5204194720412, + -1366.901121569055, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 357.0204194720412, + -1369.4991977804084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 355.5204194720412, + -1372.0972739917618, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 354.0204194720412, + -1374.6953502031151, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 352.5204194720412, + -1377.2934264144685, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 352.5204194720412, + -1377.2934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 349.9223432606879, + -1378.7934264144685, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 349.9223432606879, + -1378.7934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 346.9223432606879, + -1378.7934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 343.9223432606879, + -1378.7934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 340.9223432606879, + -1378.7934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 337.9223432606879, + -1378.7934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 334.9223432606879, + -1378.7934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 331.9223432606879, + -1378.7934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 328.9223432606879, + -1378.7934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 325.9223432606879, + -1378.7934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 322.9223432606879, + -1378.7934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 319.9223432606879, + -1378.7934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 316.9223432606879, + -1378.7934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 313.9223432606879, + -1378.7934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 310.9223432606879, + -1378.7934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 307.9223432606879, + -1378.7934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 304.9223432606879, + -1378.7934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 301.9223432606879, + -1378.7934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 298.9223432606879, + -1378.7934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 295.9223432606879, + -1378.7934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 292.9223432606879, + -1378.7934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 289.9223432606879, + -1378.7934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 286.9223432606879, + -1378.7934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 283.9223432606879, + -1378.7934264144685, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 283.9223432606879, + -1378.7934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 281.3242670493346, + -1377.2934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 278.7261908379813, + -1375.7934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 276.12811462662796, + -1374.2934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 273.53003841527465, + -1372.7934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 270.93196220392133, + -1371.2934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 268.333885992568, + -1369.7934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 265.7358097812147, + -1368.2934264144685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 263.1377335698614, + -1366.7934264144685, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-11-52_1814634316/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-11-52_1814634316/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..30d7ac0fe8b30cc07cc0648c9af18bc1236d6011 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-11-52_1814634316/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -55.69386966301366, + -1790.377698392579, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -54.19386966301366, + -1787.7796221812257, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -52.69386966301366, + -1785.1815459698723, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -51.19386966301366, + -1782.583469758519, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -49.69386966301366, + -1779.9853935471656, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -48.19386966301366, + -1777.3873173358122, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -46.69386966301366, + -1774.7892411244588, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -45.19386966301366, + -1772.1911649131055, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -43.69386966301366, + -1769.593088701752, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -42.19386966301366, + -1766.9950124903987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -40.69386966301366, + -1764.3969362790453, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -40.69386966301366, + -1764.3969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -38.09579345166034, + -1762.8969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -35.497717240307026, + -1761.3969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -32.89964102895371, + -1759.8969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -30.301564817600394, + -1758.3969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -27.703488606247078, + -1756.8969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -25.10541239489376, + -1755.3969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -22.507336183540446, + -1753.8969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -19.90925997218713, + -1752.3969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -17.311183760833813, + -1750.8969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -14.713107549480497, + -1749.3969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -12.115031338127181, + -1747.8969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -9.516955126773865, + -1746.3969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -6.9188789154205494, + -1744.8969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -4.320802704067233, + -1743.3969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1.7227264927139174, + -1741.8969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 0.8753497186393986, + -1740.3969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3.4734259299927146, + -1738.8969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 6.071502141346031, + -1737.3969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 8.669578352699347, + -1735.8969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 11.267654564052663, + -1734.3969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 13.865730775405979, + -1732.8969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 16.463806986759295, + -1731.3969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 19.06188319811261, + -1729.8969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 21.659959409465927, + -1728.3969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 24.258035620819243, + -1726.8969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 26.85611183217256, + -1725.3969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 29.454188043525875, + -1723.8969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 32.05226425487919, + -1722.3969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 34.65034046623251, + -1720.8969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 37.24841667758582, + -1719.3969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 39.84649288893914, + -1717.8969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 42.444569100292455, + -1716.3969362790453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 45.04264531164577, + -1714.8969362790453, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-17-55_1498387409/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-17-55_1498387409/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5c82e40cdfbc641a6442eabdf9d26107653c2c3d --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-17-55_1498387409/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -80.15950790574036, + -1442.4444926531344, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -81.65950790574036, + -1445.0425688644877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -83.15950790574036, + -1447.6406450758411, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -84.65950790574036, + -1450.2387212871945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -86.15950790574036, + -1452.8367974985479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -87.65950790574036, + -1455.4348737099012, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -89.15950790574036, + -1458.0329499212546, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -90.65950790574036, + -1460.631026132608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -92.15950790574036, + -1463.2291023439614, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -93.65950790574036, + -1465.8271785553147, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -95.15950790574036, + -1468.425254766668, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -96.65950790574036, + -1471.0233309780215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -98.15950790574036, + -1473.6214071893748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -99.65950790574036, + -1476.2194834007282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -101.15950790574036, + -1478.8175596120816, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -101.15950790574036, + -1478.8175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -101.15950790574036, + -1481.8175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -101.15950790574036, + -1484.8175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -101.15950790574036, + -1487.8175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -101.15950790574036, + -1490.8175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -101.15950790574036, + -1493.8175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -101.15950790574036, + -1496.8175596120816, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -101.15950790574036, + -1496.8175596120816, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -101.15950790574036, + -1496.8175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -103.75758411709367, + -1498.3175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -106.35566032844699, + -1499.8175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -108.9537365398003, + -1501.3175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -111.55181275115362, + -1502.8175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -114.14988896250694, + -1504.3175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -116.74796517386025, + -1505.8175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -119.34604138521357, + -1507.3175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -121.94411759656688, + -1508.8175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -124.5421938079202, + -1510.3175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -127.14027001927352, + -1511.8175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -129.73834623062683, + -1513.3175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -132.33642244198015, + -1514.8175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -134.93449865333346, + -1516.3175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -137.53257486468678, + -1517.8175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -140.1306510760401, + -1519.3175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -142.7287272873934, + -1520.8175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -145.32680349874673, + -1522.3175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -147.92487971010004, + -1523.8175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -150.52295592145336, + -1525.3175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -153.12103213280668, + -1526.8175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -155.71910834416, + -1528.3175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -158.3171845555133, + -1529.8175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -160.91526076686662, + -1531.3175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -163.51333697821994, + -1532.8175596120816, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -163.51333697821994, + -1532.8175596120816, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -163.51333697821994, + -1532.8175596120816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -163.51333697821994, + -1535.8175596120816, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948968 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-18-52_1308581515/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-18-52_1308581515/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8e69cd226b6573a396b0832d4e58f74c76b29af8 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-18-52_1308581515/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -294.78782222563063, + -1421.8776623664726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -292.1897460142773, + -1423.3776623664726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -289.591669802924, + -1424.8776623664726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -286.9935935915707, + -1426.3776623664726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -284.39551738021737, + -1427.8776623664726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -281.79744116886405, + -1429.3776623664726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -279.19936495751074, + -1430.8776623664726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -276.6012887461574, + -1432.3776623664726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -274.0032125348041, + -1433.8776623664726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -271.4051363234508, + -1435.3776623664726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -268.8070601120975, + -1436.8776623664726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -266.20898390074416, + -1438.3776623664726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -263.61090768939084, + -1439.8776623664726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -261.0128314780375, + -1441.3776623664726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -258.4147552666842, + -1442.8776623664726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -255.8166790553309, + -1444.3776623664726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -253.21860284397758, + -1445.8776623664726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -250.62052663262426, + -1447.3776623664726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -248.02245042127095, + -1448.8776623664726, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -248.02245042127095, + -1448.8776623664726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -246.52245042127095, + -1451.475738577826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -245.02245042127095, + -1454.0738147891793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -243.52245042127095, + -1456.6718910005327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -242.02245042127095, + -1459.269967211886, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -240.52245042127095, + -1461.8680434232394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -239.02245042127095, + -1464.4661196345928, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -237.52245042127095, + -1467.0641958459462, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -236.02245042127095, + -1469.6622720572996, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -234.52245042127095, + -1472.260348268653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -233.02245042127095, + -1474.8584244800063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -231.52245042127095, + -1477.4565006913597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -230.02245042127095, + -1480.054576902713, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -228.52245042127095, + -1482.6526531140664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -227.02245042127095, + -1485.2507293254198, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -225.52245042127095, + -1487.8488055367732, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -224.02245042127095, + -1490.4468817481265, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -222.52245042127095, + -1493.04495795948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -221.02245042127095, + -1495.6430341708333, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -219.52245042127095, + -1498.2411103821867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -218.02245042127095, + -1500.83918659354, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -216.52245042127095, + -1503.4372628048934, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -215.02245042127095, + -1506.0353390162468, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -213.52245042127095, + -1508.6334152276002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -212.02245042127095, + -1511.2314914389535, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -210.52245042127095, + -1513.829567650307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -209.02245042127095, + -1516.4276438616603, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -207.52245042127095, + -1519.0257200730136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -206.02245042127095, + -1521.623796284367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -204.52245042127095, + -1524.2218724957204, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -203.02245042127095, + -1526.8199487070738, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -201.52245042127095, + -1529.4180249184271, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -200.02245042127095, + -1532.0161011297805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -198.52245042127095, + -1534.6141773411339, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -197.02245042127095, + -1537.2122535524873, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -195.52245042127095, + -1539.8103297638406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -194.02245042127095, + -1542.408405975194, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-25-17_1793256508/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-25-17_1793256508/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dc8320f5b378bbaca1365f26c57bcd8caa05628f --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-25-17_1793256508/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 391.3831834562907, + -1329.4495020416884, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 388.78510724493736, + -1327.9495020416884, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 388.78510724493736, + -1327.9495020416884, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 387.28510724493736, + -1325.351425830335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 385.78510724493736, + -1322.7533496189817, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 385.78510724493736, + -1322.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 383.18703103358405, + -1321.2533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 380.58895482223073, + -1319.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 377.9908786108774, + -1318.2533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 375.3928023995241, + -1316.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 372.7947261881708, + -1315.2533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 370.19664997681747, + -1313.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 367.59857376546415, + -1312.2533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 365.00049755411084, + -1310.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 362.4024213427575, + -1309.2533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 359.8043451314042, + -1307.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 357.2062689200509, + -1306.2533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 354.6081927086976, + -1304.7533496189817, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 354.6081927086976, + -1304.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 351.6081927086976, + -1304.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 348.6081927086976, + -1304.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 345.6081927086976, + -1304.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 342.6081927086976, + -1304.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 339.6081927086976, + -1304.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 336.6081927086976, + -1304.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 333.6081927086976, + -1304.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 330.6081927086976, + -1304.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 327.6081927086976, + -1304.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 324.6081927086976, + -1304.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 321.6081927086976, + -1304.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 318.6081927086976, + -1304.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 315.6081927086976, + -1304.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 312.6081927086976, + -1304.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 309.6081927086976, + -1304.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 306.6081927086976, + -1304.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 303.6081927086976, + -1304.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 300.6081927086976, + -1304.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 297.6081927086976, + -1304.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 294.6081927086976, + -1304.7533496189817, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 294.6081927086976, + -1304.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 292.01011649734426, + -1306.2533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 289.41204028599094, + -1307.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 286.8139640746376, + -1309.2533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 284.2158878632843, + -1310.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 281.617811651931, + -1312.2533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 279.0197354405777, + -1313.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 276.42165922922436, + -1315.2533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 273.82358301787104, + -1316.7533496189817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 271.2255068065177, + -1318.2533496189817, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-30-23_456651794/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-30-23_456651794/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4cf09fefd7cdc0b97e3bbb53a07c3c3a5aa4c387 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-30-23_456651794/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -635.46773135375, + -2047.7978514636186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -636.96773135375, + -2045.1997752522652, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -638.46773135375, + -2042.6016990409119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -639.96773135375, + -2040.0036228295585, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -641.46773135375, + -2037.405546618205, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -642.96773135375, + -2034.8074704068517, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -644.46773135375, + -2032.2093941954984, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -645.96773135375, + -2029.611317984145, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -647.46773135375, + -2027.0132417727916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -648.96773135375, + -2024.4151655614382, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -650.46773135375, + -2021.8170893500849, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -651.96773135375, + -2019.2190131387315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -653.46773135375, + -2016.6209369273781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -654.96773135375, + -2014.0228607160248, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -656.46773135375, + -2011.4247845046714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -657.96773135375, + -2008.826708293318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -659.46773135375, + -2006.2286320819646, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -660.96773135375, + -2003.6305558706113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -662.46773135375, + -2001.032479659258, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -663.96773135375, + -1998.4344034479045, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -665.46773135375, + -1995.8363272365511, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -666.96773135375, + -1993.2382510251978, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -668.46773135375, + -1990.6401748138444, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -669.96773135375, + -1988.042098602491, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -671.46773135375, + -1985.4440223911377, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -672.96773135375, + -1982.8459461797843, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -674.46773135375, + -1980.247869968431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -675.96773135375, + -1977.6497937570775, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -677.46773135375, + -1975.0517175457242, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -678.96773135375, + -1972.4536413343708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -680.46773135375, + -1969.8555651230174, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -681.96773135375, + -1967.257488911664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -683.46773135375, + -1964.6594127003107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -684.96773135375, + -1962.0613364889573, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -686.46773135375, + -1959.463260277604, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -686.46773135375, + -1959.463260277604, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -686.46773135375, + -1956.463260277604, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -686.46773135375, + -1953.463260277604, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -686.46773135375, + -1950.463260277604, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -686.46773135375, + -1947.463260277604, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -686.46773135375, + -1944.463260277604, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -686.46773135375, + -1941.463260277604, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -686.46773135375, + -1938.463260277604, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -686.46773135375, + -1935.463260277604, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -686.46773135375, + -1932.463260277604, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -686.46773135375, + -1929.463260277604, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -686.46773135375, + -1926.463260277604, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -686.46773135375, + -1926.463260277604, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -686.46773135375, + -1926.463260277604, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -689.0658075651033, + -1924.963260277604, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -691.6638837764567, + -1923.463260277604, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-36-29_1143849810/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-36-29_1143849810/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ee13c9ba16043bdd32699740535d9867e76d20ac --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-36-29_1143849810/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -990.4340741257477, + -2786.711743984762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -990.4340741257477, + -2789.711743984762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -990.4340741257477, + -2792.711743984762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -990.4340741257477, + -2795.711743984762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -990.4340741257477, + -2798.711743984762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -990.4340741257477, + -2801.711743984762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -990.4340741257477, + -2804.711743984762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -990.4340741257477, + -2807.711743984762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -990.4340741257477, + -2810.711743984762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -990.4340741257477, + -2813.711743984762, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -990.4340741257477, + -2813.711743984762, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -990.4340741257477, + -2813.711743984762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -993.032150337101, + -2815.211743984762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -995.6302265484544, + -2816.711743984762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -998.2283027598078, + -2818.211743984762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1000.8263789711611, + -2819.711743984762, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1000.8263789711611, + -2819.711743984762, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1000.8263789711611, + -2819.711743984762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794906 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1000.8263789711611, + -2822.711743984762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1000.8263789711611, + -2825.711743984762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1000.8263789711611, + -2828.711743984762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1000.8263789711611, + -2831.711743984762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1000.8263789711611, + -2834.711743984762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1000.8263789711611, + -2837.711743984762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1000.8263789711611, + -2840.711743984762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1000.8263789711611, + -2843.711743984762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1000.8263789711611, + -2846.711743984762, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1000.8263789711611, + -2846.711743984762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -999.3263789711611, + -2849.309820196115, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -997.8263789711611, + -2851.9078964074683, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -996.3263789711611, + -2854.5059726188215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -994.8263789711611, + -2857.1040488301746, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -993.3263789711611, + -2859.702125041528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -991.8263789711611, + -2862.300201252881, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -990.3263789711611, + -2864.898277464234, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -988.8263789711611, + -2867.496353675587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -987.3263789711611, + -2870.0944298869404, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -985.8263789711611, + -2872.6925060982935, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -984.3263789711611, + -2875.2905823096467, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -982.8263789711611, + -2877.888658521, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -981.3263789711611, + -2880.486734732353, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -979.8263789711611, + -2883.084810943706, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -978.3263789711611, + -2885.6828871550592, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -976.8263789711611, + -2888.2809633664124, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -975.3263789711611, + -2890.8790395777655, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -973.8263789711611, + -2893.4771157891187, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -972.3263789711611, + -2896.075192000472, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -970.8263789711611, + -2898.673268211825, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -970.8263789711611, + -2898.673268211825, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -968.2283027598078, + -2900.173268211825, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -965.6302265484544, + -2901.673268211825, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -963.032150337101, + -2903.173268211825, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -960.4340741257477, + -2904.673268211825, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -957.8359979143943, + -2906.173268211825, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -955.2379217030409, + -2907.673268211825, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -952.6398454916875, + -2909.173268211825, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -952.6398454916875, + -2909.173268211825, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -951.1398454916875, + -2911.771344423178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -949.6398454916875, + -2914.3694206345313, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -948.1398454916875, + -2916.9674968458844, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -946.6398454916875, + -2919.5655730572375, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-41-38_1468519716/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-41-38_1468519716/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bab7652aa7647b1445caae40f676d839c26d83d3 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-41-38_1468519716/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -990.8184842165141, + -2785.8179764663428, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -992.3184842165141, + -2788.416052677696, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -993.8184842165141, + -2791.014128889049, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -995.3184842165141, + -2793.612205100402, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -996.8184842165141, + -2796.2102813117554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -998.3184842165141, + -2798.8083575231085, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -999.8184842165141, + -2801.4064337344616, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -999.8184842165141, + -2801.4064337344616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794925 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -999.8184842165141, + -2804.4064337344616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -999.8184842165141, + -2807.4064337344616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -999.8184842165141, + -2810.4064337344616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -999.8184842165141, + -2813.4064337344616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -999.8184842165141, + -2816.4064337344616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -999.8184842165141, + -2819.4064337344616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -999.8184842165141, + -2822.4064337344616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -999.8184842165141, + -2825.4064337344616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -999.8184842165141, + -2828.4064337344616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -999.8184842165141, + -2831.4064337344616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -999.8184842165141, + -2834.4064337344616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -999.8184842165141, + -2837.4064337344616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -999.8184842165141, + -2840.4064337344616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -999.8184842165141, + -2843.4064337344616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -999.8184842165141, + -2846.4064337344616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -999.8184842165141, + -2849.4064337344616, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -999.8184842165141, + -2849.4064337344616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -998.3184842165141, + -2852.004509945815, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -996.8184842165141, + -2854.602586157168, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -995.3184842165141, + -2857.200662368521, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -993.8184842165141, + -2859.798738579874, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -992.3184842165141, + -2862.3968147912274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -990.8184842165141, + -2864.9948910025805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -989.3184842165141, + -2867.5929672139337, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -987.8184842165141, + -2870.191043425287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -986.3184842165141, + -2872.78911963664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -984.8184842165141, + -2875.387195847993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -983.3184842165141, + -2877.9852720593462, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -981.8184842165141, + -2880.5833482706994, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -980.3184842165141, + -2883.1814244820525, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -978.8184842165141, + -2885.7795006934057, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -977.3184842165141, + -2888.377576904759, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -975.8184842165141, + -2890.975653116112, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -974.3184842165141, + -2893.573729327465, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -972.8184842165141, + -2896.1718055388183, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -971.3184842165141, + -2898.7698817501714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -969.8184842165141, + -2901.3679579615246, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -968.3184842165141, + -2903.9660341728777, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -966.8184842165141, + -2906.564110384231, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -966.8184842165141, + -2906.564110384231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -964.2204080051608, + -2908.064110384231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -961.6223317938075, + -2909.564110384231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -959.0242555824541, + -2911.064110384231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -956.4261793711007, + -2912.564110384231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -953.8281031597473, + -2914.064110384231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -951.230026948394, + -2915.564110384231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -948.6319507370406, + -2917.064110384231, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -946.0338745256872, + -2918.564110384231, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-41-9_831099451/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-41-9_831099451/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab6481142e536723b70cd454e66e0ecf5a8f6603 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-41-9_831099451/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -945.6034861335612, + -2765.783749946597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -945.6034861335612, + -2768.783749946597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -945.6034861335612, + -2771.783749946597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -945.6034861335612, + -2774.783749946597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -945.6034861335612, + -2777.783749946597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -945.6034861335612, + -2780.783749946597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -945.6034861335612, + -2783.783749946597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -945.6034861335612, + -2786.783749946597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -945.6034861335612, + -2789.783749946597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -945.6034861335612, + -2792.783749946597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -945.6034861335612, + -2795.783749946597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -945.6034861335612, + -2798.783749946597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -945.6034861335612, + -2801.783749946597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -945.6034861335612, + -2804.783749946597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -945.6034861335612, + -2807.783749946597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -945.6034861335612, + -2810.783749946597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -945.6034861335612, + -2813.783749946597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -945.6034861335612, + -2816.783749946597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -945.6034861335612, + -2819.783749946597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -945.6034861335612, + -2822.783749946597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -945.6034861335612, + -2825.783749946597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -945.6034861335612, + -2828.783749946597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -945.6034861335612, + -2831.783749946597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -945.6034861335612, + -2834.783749946597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -945.6034861335612, + -2837.783749946597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -945.6034861335612, + -2840.783749946597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -945.6034861335612, + -2843.783749946597, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -945.6034861335612, + -2843.783749946597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -944.1034861335612, + -2846.38182615795, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -942.6034861335612, + -2848.979902369303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -941.1034861335612, + -2851.5779785806562, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -939.6034861335612, + -2854.1760547920094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -938.1034861335612, + -2856.7741310033625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -936.6034861335612, + -2859.3722072147157, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -935.1034861335612, + -2861.970283426069, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -933.6034861335612, + -2864.568359637422, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -932.1034861335612, + -2867.166435848775, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -932.1034861335612, + -2867.166435848775, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -932.1034861335612, + -2867.166435848775, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -933.6034861335612, + -2869.7645120601283, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -935.1034861335612, + -2872.3625882714814, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -936.6034861335612, + -2874.9606644828345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -938.1034861335612, + -2877.5587406941877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -939.6034861335612, + -2880.156816905541, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -941.1034861335612, + -2882.754893116894, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -941.1034861335612, + -2882.754893116894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794925 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -941.1034861335612, + -2885.754893116894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -941.1034861335612, + -2888.754893116894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -941.1034861335612, + -2891.754893116894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -941.1034861335612, + -2894.754893116894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -941.1034861335612, + -2897.754893116894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -941.1034861335612, + -2900.754893116894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -941.1034861335612, + -2903.754893116894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -941.1034861335612, + -2906.754893116894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -941.1034861335612, + -2909.754893116894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -941.1034861335612, + -2912.754893116894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -941.1034861335612, + -2915.754893116894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -941.1034861335612, + -2918.754893116894, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-45-28_575705360/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-45-28_575705360/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1e73881db78d09af9bbe2703e5b9cd81da325f60 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-45-28_575705360/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 399.2785709244241, + -1329.1879715270027, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 401.87664713577743, + -1327.6879715270027, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 404.47472334713075, + -1326.1879715270027, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 404.47472334713075, + -1326.1879715270027, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 405.97472334713075, + -1323.5898953156493, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 407.47472334713075, + -1320.991819104296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 408.97472334713075, + -1318.3937428929426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 410.47472334713075, + -1315.7956666815892, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 411.97472334713075, + -1313.1975904702358, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 413.47472334713075, + -1310.5995142588824, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 413.47472334713075, + -1310.5995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 413.47472334713075, + -1307.5995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 413.47472334713075, + -1304.5995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 413.47472334713075, + -1301.5995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 413.47472334713075, + -1298.5995142588824, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 413.47472334713075, + -1298.5995142588824, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 413.47472334713075, + -1298.5995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 416.07279955848406, + -1297.0995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 418.6708757698374, + -1295.5995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 421.2689519811907, + -1294.0995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 423.867028192544, + -1292.5995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 426.4651044038973, + -1291.0995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 429.06318061525064, + -1289.5995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 431.66125682660396, + -1288.0995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 434.2593330379573, + -1286.5995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 436.8574092493106, + -1285.0995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 439.4554854606639, + -1283.5995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 442.0535616720172, + -1282.0995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 444.65163788337054, + -1280.5995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 447.24971409472386, + -1279.0995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 449.8477903060772, + -1277.5995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 452.4458665174305, + -1276.0995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 455.0439427287838, + -1274.5995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 457.6420189401371, + -1273.0995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 460.24009515149044, + -1271.5995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 462.83817136284375, + -1270.0995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 465.43624757419707, + -1268.5995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 468.0343237855504, + -1267.0995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 470.6323999969037, + -1265.5995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 473.230476208257, + -1264.0995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 475.82855241961033, + -1262.5995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 478.42662863096365, + -1261.0995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 481.02470484231696, + -1259.5995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 483.6227810536703, + -1258.0995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 486.2208572650236, + -1256.5995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 488.8189334763769, + -1255.0995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 491.41700968773023, + -1253.5995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 494.01508589908354, + -1252.0995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 496.61316211043686, + -1250.5995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 499.2112383217902, + -1249.0995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 501.8093145331435, + -1247.5995142588824, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 501.8093145331435, + -1247.5995142588824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 503.3093145331435, + -1245.001438047529, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-49-40_1390387708/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-49-40_1390387708/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5b53e833e9fe03e1d37354ca9048922641acb646 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-49-40_1390387708/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -652.7440581239174, + -1785.6794018365858, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -654.2440581239174, + -1788.2774780479392, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -655.7440581239174, + -1790.8755542592926, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -657.2440581239174, + -1793.473630470646, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -658.7440581239174, + -1796.0717066819993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -660.2440581239174, + -1798.6697828933527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -661.7440581239174, + -1801.267859104706, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -663.2440581239174, + -1803.8659353160594, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -664.7440581239174, + -1806.4640115274128, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -666.2440581239174, + -1809.0620877387662, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -667.7440581239174, + -1811.6601639501196, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -669.2440581239174, + -1814.258240161473, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -670.7440581239174, + -1816.8563163728263, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -672.2440581239174, + -1819.4543925841797, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -673.7440581239174, + -1822.052468795533, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -675.2440581239174, + -1824.6505450068864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -676.7440581239174, + -1827.2486212182398, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -678.2440581239174, + -1829.8466974295932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -679.7440581239174, + -1832.4447736409466, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -681.2440581239174, + -1835.0428498523, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -682.7440581239174, + -1837.6409260636533, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -684.2440581239174, + -1840.2390022750067, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -685.7440581239174, + -1842.83707848636, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -687.2440581239174, + -1845.4351546977134, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -688.7440581239174, + -1848.0332309090668, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -690.2440581239174, + -1850.6313071204202, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -691.7440581239174, + -1853.2293833317735, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -693.2440581239174, + -1855.827459543127, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -694.7440581239174, + -1858.4255357544803, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -694.7440581239174, + -1858.4255357544803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -694.7440581239174, + -1861.4255357544803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -694.7440581239174, + -1864.4255357544803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -694.7440581239174, + -1867.4255357544803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -694.7440581239174, + -1870.4255357544803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -694.7440581239174, + -1873.4255357544803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -694.7440581239174, + -1876.4255357544803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -694.7440581239174, + -1879.4255357544803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -694.7440581239174, + -1882.4255357544803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -694.7440581239174, + -1885.4255357544803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -694.7440581239174, + -1888.4255357544803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -694.7440581239174, + -1891.4255357544803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -694.7440581239174, + -1894.4255357544803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -694.7440581239174, + -1897.4255357544803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -694.7440581239174, + -1900.4255357544803, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -694.7440581239174, + -1900.4255357544803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -696.2440581239174, + -1903.0236119658337, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -697.7440581239174, + -1905.621688177187, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -699.2440581239174, + -1908.2197643885404, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -700.7440581239174, + -1910.8178405998938, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -702.2440581239174, + -1913.4159168112471, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -703.7440581239174, + -1916.0139930226005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -705.2440581239174, + -1918.612069233954, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -706.7440581239174, + -1921.2101454453073, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -712.0, + -1940.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-58-50_1051402293/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-58-50_1051402293/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab1cc19224b271bbb053f6c60e10e98623bb9334 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-58-50_1051402293/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 307.82782835940566, + -1478.6267559224234, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 306.32782835940566, + -1476.02867971107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 304.82782835940566, + -1473.4306034997167, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 303.32782835940566, + -1470.8325272883633, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 301.82782835940566, + -1468.23445107701, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 300.32782835940566, + -1465.6363748656565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 298.82782835940566, + -1463.0382986543032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 297.32782835940566, + -1460.4402224429498, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 295.82782835940566, + -1457.8421462315964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 294.32782835940566, + -1455.244070020243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 292.82782835940566, + -1452.6459938088897, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 291.32782835940566, + -1450.0479175975363, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 289.82782835940566, + -1447.449841386183, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 288.32782835940566, + -1444.8517651748296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 286.82782835940566, + -1442.2536889634762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 285.32782835940566, + -1439.6556127521228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 283.82782835940566, + -1437.0575365407694, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 282.32782835940566, + -1434.459460329416, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 280.82782835940566, + -1431.8613841180627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 279.32782835940566, + -1429.2633079067093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 277.82782835940566, + -1426.665231695356, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 276.32782835940566, + -1424.0671554840026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 274.82782835940566, + -1421.4690792726492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 273.32782835940566, + -1418.8710030612958, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 271.82782835940566, + -1416.2729268499425, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 270.32782835940566, + -1413.674850638589, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 268.82782835940566, + -1411.0767744272357, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 267.32782835940566, + -1408.4786982158823, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 265.82782835940566, + -1405.880622004529, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 264.32782835940566, + -1403.2825457931756, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 264.32782835940566, + -1403.2825457931756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 264.32782835940566, + -1400.2825457931756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 264.32782835940566, + -1397.2825457931756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 264.32782835940566, + -1394.2825457931756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 264.32782835940566, + -1391.2825457931756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 264.32782835940566, + -1388.2825457931756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 264.32782835940566, + -1385.2825457931756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 264.32782835940566, + -1382.2825457931756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 264.32782835940566, + -1379.2825457931756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 264.32782835940566, + -1376.2825457931756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 264.32782835940566, + -1373.2825457931756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 264.32782835940566, + -1370.2825457931756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 264.32782835940566, + -1367.2825457931756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 264.32782835940566, + -1364.2825457931756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 264.32782835940566, + -1361.2825457931756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 264.32782835940566, + -1358.2825457931756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 264.32782835940566, + -1355.2825457931756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 264.32782835940566, + -1352.2825457931756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 264.32782835940566, + -1349.2825457931756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 264.32782835940566, + -1346.2825457931756, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 264.32782835940566, + -1346.2825457931756, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 264.32782835940566, + -1346.2825457931756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 261.72975214805234, + -1344.7825457931756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 259.131675936699, + -1343.2825457931756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 256.5335997253457, + -1341.7825457931756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 253.9355235139924, + -1340.2825457931756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 251.33744730263908, + -1338.7825457931756, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-14-18_1411549676/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-14-18_1411549676/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f15d145d5dbfe09dd6e52458575ea7f7bb9c4dfc --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-14-18_1411549676/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -154.04886999324006, + -1583.8921302958286, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -155.54886999324006, + -1581.2940540844752, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -157.04886999324006, + -1578.6959778731218, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -157.04886999324006, + -1578.6959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -157.04886999324006, + -1575.6959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -157.04886999324006, + -1572.6959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -157.04886999324006, + -1569.6959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -157.04886999324006, + -1566.6959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -157.04886999324006, + -1563.6959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -157.04886999324006, + -1560.6959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -157.04886999324006, + -1557.6959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -157.04886999324006, + -1554.6959778731218, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -157.04886999324006, + -1554.6959778731218, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -157.04886999324006, + -1554.6959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -159.64694620459338, + -1553.1959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -162.2450224159467, + -1551.6959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -164.8430986273, + -1550.1959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -167.44117483865332, + -1548.6959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -170.03925105000664, + -1547.1959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -172.63732726135996, + -1545.6959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -175.23540347271327, + -1544.1959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -177.8334796840666, + -1542.6959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -180.4315558954199, + -1541.1959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -183.02963210677322, + -1539.6959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -185.62770831812654, + -1538.1959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -188.22578452947985, + -1536.6959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -190.82386074083317, + -1535.1959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -193.42193695218648, + -1533.6959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -196.0200131635398, + -1532.1959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -198.61808937489312, + -1530.6959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -201.21616558624643, + -1529.1959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -203.81424179759975, + -1527.6959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -206.41231800895306, + -1526.1959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -209.01039422030638, + -1524.6959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -211.6084704316597, + -1523.1959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -214.206546643013, + -1521.6959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -216.80462285436633, + -1520.1959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -219.40269906571964, + -1518.6959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -222.00077527707296, + -1517.1959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -224.59885148842628, + -1515.6959778731218, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -224.59885148842628, + -1515.6959778731218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -226.09885148842628, + -1513.0979016617684, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -227.59885148842628, + -1510.499825450415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -229.09885148842628, + -1507.9017492390617, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -230.59885148842628, + -1505.3036730277083, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -232.09885148842628, + -1502.705596816355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -233.59885148842628, + -1500.1075206050016, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -235.09885148842628, + -1497.5094443936482, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -236.59885148842628, + -1494.9113681822948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -238.09885148842628, + -1492.3132919709415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -239.59885148842628, + -1489.715215759588, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -241.09885148842628, + -1487.1171395482347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -242.59885148842628, + -1484.5190633368813, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -244.09885148842628, + -1481.920987125528, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-32-2_822890675/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-32-2_822890675/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..54856afe2d2d955b73cfc90b9087581d09f1ab36 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-32-2_822890675/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 103.70183968351901, + -1608.6857672856663, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 105.20183968351901, + -1611.2838434970197, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 106.70183968351901, + -1613.881919708373, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 108.20183968351901, + -1616.4799959197264, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 108.20183968351901, + -1616.4799959197264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 110.79991589487233, + -1617.9799959197264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 113.39799210622564, + -1619.4799959197264, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 113.39799210622564, + -1619.4799959197264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 114.89799210622564, + -1622.0780721310798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 116.39799210622564, + -1624.6761483424332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 117.89799210622564, + -1627.2742245537866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 119.39799210622564, + -1629.87230076514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 120.89799210622564, + -1632.4703769764933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 122.39799210622564, + -1635.0684531878467, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 123.89799210622564, + -1637.6665293992, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 125.39799210622564, + -1640.2646056105534, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 126.89799210622564, + -1642.8626818219068, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 128.39799210622564, + -1645.4607580332602, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 129.89799210622564, + -1648.0588342446135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 131.39799210622564, + -1650.656910455967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 132.89799210622564, + -1653.2549866673203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 134.39799210622564, + -1655.8530628786737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 135.89799210622564, + -1658.451139090027, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 137.39799210622564, + -1661.0492153013804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 138.89799210622564, + -1663.6472915127338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 140.39799210622564, + -1666.2453677240871, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 141.89799210622564, + -1668.8434439354405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 143.39799210622564, + -1671.441520146794, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 144.89799210622564, + -1674.0395963581473, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 146.39799210622564, + -1676.6376725695006, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 147.89799210622564, + -1679.235748780854, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 149.39799210622564, + -1681.8338249922074, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 150.89799210622564, + -1684.4319012035608, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 150.89799210622564, + -1684.4319012035608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 150.89799210622564, + -1687.4319012035608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 150.89799210622564, + -1690.4319012035608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 150.89799210622564, + -1693.4319012035608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 150.89799210622564, + -1696.4319012035608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 150.89799210622564, + -1699.4319012035608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 150.89799210622564, + -1702.4319012035608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 150.89799210622564, + -1705.4319012035608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 150.89799210622564, + -1708.4319012035608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 150.89799210622564, + -1711.4319012035608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 150.89799210622564, + -1714.4319012035608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 150.89799210622564, + -1717.4319012035608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 150.89799210622564, + -1720.4319012035608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 150.89799210622564, + -1723.4319012035608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 150.89799210622564, + -1726.4319012035608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 150.89799210622564, + -1729.4319012035608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 150.89799210622564, + -1732.4319012035608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 150.89799210622564, + -1735.4319012035608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 150.89799210622564, + -1738.4319012035608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 150.89799210622564, + -1741.4319012035608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 150.89799210622564, + -1744.4319012035608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 150.89799210622564, + -1747.4319012035608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 150.89799210622564, + -1750.4319012035608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 150.89799210622564, + -1753.4319012035608, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.0, + -1776.0, + -214.057 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-34-35_1255179497/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-34-35_1255179497/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d60e357076b6520677d9539fbd8de228a901a72d --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-34-35_1255179497/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -676.320108404514, + -1791.9494040342518, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -677.820108404514, + -1794.5474802456051, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -679.320108404514, + -1797.1455564569585, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -680.820108404514, + -1799.7436326683119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -682.320108404514, + -1802.3417088796652, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -683.820108404514, + -1804.9397850910186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -685.320108404514, + -1807.537861302372, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -686.820108404514, + -1810.1359375137254, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -688.320108404514, + -1812.7340137250787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -689.820108404514, + -1815.332089936432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -691.320108404514, + -1817.9301661477855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -692.820108404514, + -1820.5282423591389, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -692.820108404514, + -1820.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -692.820108404514, + -1823.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -692.820108404514, + -1826.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -692.820108404514, + -1829.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -692.820108404514, + -1832.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -692.820108404514, + -1835.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -692.820108404514, + -1838.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -692.820108404514, + -1841.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -692.820108404514, + -1844.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -692.820108404514, + -1847.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -692.820108404514, + -1850.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -692.820108404514, + -1853.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -692.820108404514, + -1856.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -692.820108404514, + -1859.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -692.820108404514, + -1862.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -692.820108404514, + -1865.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -692.820108404514, + -1868.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -692.820108404514, + -1871.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -692.820108404514, + -1874.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -692.820108404514, + -1877.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -692.820108404514, + -1880.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -692.820108404514, + -1883.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -692.820108404514, + -1886.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -692.820108404514, + -1889.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -692.820108404514, + -1892.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -692.820108404514, + -1895.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -692.820108404514, + -1898.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -692.820108404514, + -1901.5282423591389, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -692.820108404514, + -1901.5282423591389, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -692.820108404514, + -1901.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -695.4181846158674, + -1903.0282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -698.0162608272208, + -1904.5282423591389, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -698.0162608272208, + -1904.5282423591389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -699.5162608272208, + -1907.1263185704922, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -701.0162608272208, + -1909.7243947818456, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -702.5162608272208, + -1912.322470993199, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -704.0162608272208, + -1914.9205472045523, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -705.5162608272208, + -1917.5186234159057, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -707.0162608272208, + -1920.116699627259, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -712.0, + -1940.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-4-32_2001100545/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-4-32_2001100545/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a433519037b011c5ebf4f022c890aa65cdc7d52b --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-4-32_2001100545/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 396.9634054302949, + -1328.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 394.3653292189416, + -1326.7259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 391.7672530075883, + -1325.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 389.169176796235, + -1323.7259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 386.57110058488166, + -1322.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 383.97302437352835, + -1320.7259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 381.37494816217503, + -1319.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 378.7768719508217, + -1317.7259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 376.1787957394684, + -1316.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 373.5807195281151, + -1314.7259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 370.98264331676177, + -1313.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 368.38456710540845, + -1311.7259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 365.78649089405513, + -1310.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 363.1884146827018, + -1308.7259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 360.5903384713485, + -1307.2259578463031, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 360.5903384713485, + -1307.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 357.5903384713485, + -1307.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 354.5903384713485, + -1307.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 351.5903384713485, + -1307.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 348.5903384713485, + -1307.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 345.5903384713485, + -1307.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 342.5903384713485, + -1307.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 339.5903384713485, + -1307.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 336.5903384713485, + -1307.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 333.5903384713485, + -1307.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 330.5903384713485, + -1307.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 327.5903384713485, + -1307.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 324.5903384713485, + -1307.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 321.5903384713485, + -1307.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 318.5903384713485, + -1307.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 315.5903384713485, + -1307.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 312.5903384713485, + -1307.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 309.5903384713485, + -1307.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 306.5903384713485, + -1307.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 303.5903384713485, + -1307.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 300.5903384713485, + -1307.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 297.5903384713485, + -1307.2259578463031, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 297.5903384713485, + -1307.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 294.9922622599952, + -1308.7259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 292.39418604864187, + -1310.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 289.79610983728855, + -1311.7259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 287.19803362593524, + -1313.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 284.5999574145819, + -1314.7259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 282.0018812032286, + -1316.2259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 279.4038049918753, + -1317.7259578463031, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 279.4038049918753, + -1317.7259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 276.4038049918753, + -1317.7259578463031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 273.4038049918753, + -1317.7259578463031, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-48-4_1760243555/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-48-4_1760243555/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ecef84efd38d5f368f27480d0862e6490f5fd4ea --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-48-4_1760243555/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -97.8195245312986, + -1402.3708164737086, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -99.3195245312986, + -1404.968892685062, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -100.8195245312986, + -1407.5669688964153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -102.3195245312986, + -1410.1650451077687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -103.8195245312986, + -1412.763121319122, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -105.3195245312986, + -1415.3611975304755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -106.8195245312986, + -1417.9592737418288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -108.3195245312986, + -1420.5573499531822, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -109.8195245312986, + -1423.1554261645356, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -111.3195245312986, + -1425.753502375889, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -112.8195245312986, + -1428.3515785872423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -114.3195245312986, + -1430.9496547985957, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -115.8195245312986, + -1433.547731009949, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -117.3195245312986, + -1436.1458072213024, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -118.8195245312986, + -1438.7438834326558, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -120.3195245312986, + -1441.3419596440092, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -121.8195245312986, + -1443.9400358553626, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -123.3195245312986, + -1446.538112066716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -124.8195245312986, + -1449.1361882780693, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -126.3195245312986, + -1451.7342644894227, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -127.8195245312986, + -1454.332340700776, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -129.31952453129858, + -1456.9304169121294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393182 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -130.81952453129858, + -1459.5284931234828, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -132.31952453129858, + -1462.1265693348362, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -133.81952453129858, + -1464.7246455461895, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -133.81952453129858, + -1464.7246455461895, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -136.4176007426519, + -1466.2246455461895, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -139.01567695400522, + -1467.7246455461895, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -141.61375316535853, + -1469.2246455461895, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -144.21182937671185, + -1470.7246455461895, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -144.21182937671185, + -1470.7246455461895, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -145.71182937671185, + -1473.322721757543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -147.21182937671185, + -1475.9207979688963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -148.71182937671185, + -1478.5188741802497, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -150.21182937671185, + -1481.116950391603, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -151.71182937671185, + -1483.7150266029564, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -153.21182937671185, + -1486.3131028143098, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -154.71182937671185, + -1488.9111790256632, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -156.21182937671185, + -1491.5092552370165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -157.71182937671185, + -1494.10733144837, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -159.21182937671185, + -1496.7054076597233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -160.71182937671185, + -1499.3034838710767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -162.21182937671185, + -1501.90156008243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -163.71182937671185, + -1504.4996362937834, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -163.71182937671185, + -1504.4996362937834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -163.71182937671185, + -1507.4996362937834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -163.71182937671185, + -1510.4996362937834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -163.71182937671185, + -1513.4996362937834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -163.71182937671185, + -1516.4996362937834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -163.71182937671185, + -1519.4996362937834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -163.71182937671185, + -1522.4996362937834, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-51-7_438792350/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-51-7_438792350/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d9f0112e07c1da194d1abf458ce843d2f81258ea --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-51-7_438792350/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 390.2671385775642, + -1324.6758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 387.6690623662109, + -1323.1758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 385.07098615485756, + -1321.6758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 382.47290994350425, + -1320.1758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 379.87483373215093, + -1318.6758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 377.2767575207976, + -1317.1758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 374.6786813094443, + -1315.6758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 372.080605098091, + -1314.1758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 369.48252888673767, + -1312.6758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 366.88445267538435, + -1311.1758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 364.28637646403104, + -1309.6758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 361.6883002526777, + -1308.1758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 359.0902240413244, + -1306.6758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 356.4921478299711, + -1305.1758654274806, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 356.4921478299711, + -1305.1758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 353.4921478299711, + -1305.1758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 350.4921478299711, + -1305.1758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 347.4921478299711, + -1305.1758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 344.4921478299711, + -1305.1758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 341.4921478299711, + -1305.1758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 338.4921478299711, + -1305.1758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 335.4921478299711, + -1305.1758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 332.4921478299711, + -1305.1758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 329.4921478299711, + -1305.1758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 326.4921478299711, + -1305.1758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 323.4921478299711, + -1305.1758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 320.4921478299711, + -1305.1758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 317.4921478299711, + -1305.1758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 314.4921478299711, + -1305.1758654274806, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 314.4921478299711, + -1305.1758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 311.8940716186178, + -1306.6758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 309.29599540726446, + -1308.1758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 306.69791919591114, + -1309.6758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 304.0998429845578, + -1311.1758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 301.5017667732045, + -1312.6758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 298.9036905618512, + -1314.1758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 296.3056143504979, + -1315.6758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 293.70753813914456, + -1317.1758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 291.10946192779124, + -1318.6758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 288.5113857164379, + -1320.1758654274806, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 288.5113857164379, + -1320.1758654274806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 287.0113857164379, + -1322.773941638834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 285.5113857164379, + -1325.3720178501874, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 284.0113857164379, + -1327.9700940615407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 282.5113857164379, + -1330.5681702728941, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 281.0113857164379, + -1333.1662464842475, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 279.5113857164379, + -1335.7643226956009, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 278.0113857164379, + -1338.3623989069542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 276.5113857164379, + -1340.9604751183076, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 275.0113857164379, + -1343.558551329661, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 273.5113857164379, + -1346.1566275410144, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 272.0113857164379, + -1348.7547037523677, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 270.5113857164379, + -1351.352779963721, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 269.0113857164379, + -1353.9508561750745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 267.5113857164379, + -1356.5489323864279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 266.0113857164379, + -1359.1470085977812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 264.5113857164379, + -1361.7450848091346, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 263.0113857164379, + -1364.343161020488, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-8-3_1477171087/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-8-3_1477171087/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..18c85f9d318525b4af4074a8180d7e7802ae7255 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-8-3_1477171087/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 411.0595894527211, + -1356.0016277639365, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 409.5595894527211, + -1358.59970397529, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 408.0595894527211, + -1361.1977801866433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 406.5595894527211, + -1363.7958563979967, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 405.0595894527211, + -1366.39393260935, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 403.5595894527211, + -1368.9920088207034, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 403.5595894527211, + -1368.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 400.9615132413678, + -1370.4920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 398.3634370300145, + -1371.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 395.7653608186612, + -1373.4920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 393.16728460730786, + -1374.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 390.56920839595455, + -1376.4920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 387.97113218460123, + -1377.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 385.3730559732479, + -1379.4920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 382.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 382.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 379.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 376.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 373.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 370.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 367.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 364.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 361.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 358.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 355.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 352.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 349.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 346.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 343.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 340.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 337.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 334.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 331.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 328.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 325.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 322.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 319.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 316.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 313.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 310.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 307.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 304.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 301.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 298.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 295.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 292.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 289.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 286.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 283.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 280.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 280.7749797618946, + -1380.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 278.1769035505413, + -1379.4920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 275.57882733918797, + -1377.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 272.98075112783465, + -1376.4920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 270.38267491648134, + -1374.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 267.784598705128, + -1373.4920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 265.1865224937747, + -1371.9920088207034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 262.5884462824214, + -1370.4920088207034, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-9-40_1889947178/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-9-40_1889947178/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7eb7da355da8e8d698e6598d9a3ac718c255d4dc --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-9-40_1889947178/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -792.767513893908, + -2051.208151403873, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -791.267513893908, + -2048.61007519252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -789.767513893908, + -2046.0119989811667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -788.267513893908, + -2043.4139227698133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -786.767513893908, + -2040.81584655846, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -785.267513893908, + -2038.2177703471066, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -783.767513893908, + -2035.6196941357532, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -782.267513893908, + -2033.0216179243998, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -780.767513893908, + -2030.4235417130465, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -779.267513893908, + -2027.825465501693, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -777.767513893908, + -2025.2273892903397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -776.267513893908, + -2022.6293130789863, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -774.767513893908, + -2020.031236867633, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -773.267513893908, + -2017.4331606562796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -771.767513893908, + -2014.8350844449262, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -770.267513893908, + -2012.2370082335729, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -768.767513893908, + -2009.6389320222195, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -767.267513893908, + -2007.040855810866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -765.767513893908, + -2004.4427795995127, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -764.267513893908, + -2001.8447033881594, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -762.767513893908, + -1999.246627176806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -761.267513893908, + -1996.6485509654526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -759.767513893908, + -1994.0504747540992, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -758.267513893908, + -1991.4523985427459, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -756.767513893908, + -1988.8543223313925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -755.267513893908, + -1986.2562461200391, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -753.767513893908, + -1983.6581699086857, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -752.267513893908, + -1981.0600936973324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -750.767513893908, + -1978.462017485979, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -749.267513893908, + -1975.8639412746256, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -747.767513893908, + -1973.2658650632723, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -746.267513893908, + -1970.6677888519189, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -744.767513893908, + -1968.0697126405655, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -743.267513893908, + -1965.4716364292121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -741.767513893908, + -1962.8735602178588, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -740.267513893908, + -1960.2754840065054, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -738.767513893908, + -1957.677407795152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -737.267513893908, + -1955.0793315837986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -735.767513893908, + -1952.4812553724453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -734.267513893908, + -1949.883179161092, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -732.767513893908, + -1947.2851029497385, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -731.267513893908, + -1944.6870267383852, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -729.767513893908, + -1942.0889505270318, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -729.767513893908, + -1942.0889505270318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -729.767513893908, + -1939.0889505270318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -729.767513893908, + -1936.0889505270318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -729.767513893908, + -1933.0889505270318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -729.767513893908, + -1930.0889505270318, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -729.767513893908, + -1930.0889505270318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -728.267513893908, + -1927.4908743156784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -726.767513893908, + -1924.892798104325, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -726.767513893908, + -1924.892798104325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -724.1694376825546, + -1923.392798104325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -721.5713614712013, + -1921.892798104325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -718.9732852598479, + -1920.392798104325, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-15-56_1504569917/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-15-56_1504569917/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..258268fc49bbe065a2206f72e47668fcc552842a --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-15-56_1504569917/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 199.78280244686687, + -1583.69168085395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 197.18472623551355, + -1585.19168085395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 194.58665002416024, + -1586.69168085395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 191.98857381280692, + -1588.19168085395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 189.3904976014536, + -1589.69168085395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 186.7924213901003, + -1591.19168085395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 184.19434517874697, + -1592.69168085395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 181.59626896739366, + -1594.19168085395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 178.99819275604034, + -1595.69168085395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 176.40011654468702, + -1597.19168085395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 173.8020403333337, + -1598.69168085395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 171.2039641219804, + -1600.19168085395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 168.60588791062708, + -1601.69168085395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 166.00781169927376, + -1603.19168085395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 163.40973548792044, + -1604.69168085395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 160.81165927656713, + -1606.19168085395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 158.2135830652138, + -1607.69168085395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 155.6155068538605, + -1609.19168085395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 153.01743064250718, + -1610.69168085395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 150.41935443115386, + -1612.19168085395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 147.82127821980055, + -1613.69168085395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 145.22320200844723, + -1615.19168085395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 142.62512579709392, + -1616.69168085395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 140.0270495857406, + -1618.19168085395, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 140.0270495857406, + -1618.19168085395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 138.5270495857406, + -1620.7897570653033, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 137.0270495857406, + -1623.3878332766567, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 135.5270495857406, + -1625.98590948801, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 134.0270495857406, + -1628.5839856993634, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 132.5270495857406, + -1631.1820619107168, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 131.0270495857406, + -1633.7801381220702, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 129.5270495857406, + -1636.3782143334236, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 128.0270495857406, + -1638.976290544777, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 126.5270495857406, + -1641.5743667561303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 125.0270495857406, + -1644.1724429674837, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 123.5270495857406, + -1646.770519178837, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 122.0270495857406, + -1649.3685953901904, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 120.5270495857406, + -1651.9666716015438, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 119.0270495857406, + -1654.5647478128972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 117.5270495857406, + -1657.1628240242505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 116.0270495857406, + -1659.760900235604, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 114.5270495857406, + -1662.3589764469573, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 114.5270495857406, + -1662.3589764469573, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 111.92897337438728, + -1663.8589764469573, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 109.33089716303397, + -1665.3589764469573, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 106.73282095168065, + -1666.8589764469573, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 104.13474474032733, + -1668.3589764469573, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 101.53666852897402, + -1669.8589764469573, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 98.9385923176207, + -1671.3589764469573, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-24-18_968338082/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-24-18_968338082/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e7761ef93bbc8d482033f5c38df1f22da828e3ce --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-24-18_968338082/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -755.8868888693713, + -2040.2341541697322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -754.3868888693713, + -2037.6360779583788, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -752.8868888693713, + -2035.0380017470254, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -751.3868888693713, + -2032.439925535672, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -749.8868888693713, + -2029.8418493243187, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -748.3868888693713, + -2027.2437731129653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -746.8868888693713, + -2024.645696901612, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -745.3868888693713, + -2022.0476206902586, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -743.8868888693713, + -2019.4495444789052, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -742.3868888693713, + -2016.8514682675518, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -740.8868888693713, + -2014.2533920561984, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -739.3868888693713, + -2011.655315844845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -737.8868888693713, + -2009.0572396334917, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -736.3868888693713, + -2006.4591634221383, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -734.8868888693713, + -2003.861087210785, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -733.3868888693713, + -2001.2630109994316, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -731.8868888693713, + -1998.6649347880782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -730.3868888693713, + -1996.0668585767248, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -728.8868888693713, + -1993.4687823653715, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -727.3868888693713, + -1990.870706154018, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -725.8868888693713, + -1988.2726299426647, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -725.8868888693713, + -1988.2726299426647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -723.2888126580181, + -1986.7726299426647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -720.6907364466647, + -1985.2726299426647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -718.0926602353113, + -1983.7726299426647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -715.4945840239579, + -1982.2726299426647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -712.8965078126046, + -1980.7726299426647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -710.2984316012512, + -1979.2726299426647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -707.7003553898978, + -1977.7726299426647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -705.1022791785444, + -1976.2726299426647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -702.5042029671911, + -1974.7726299426647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -699.9061267558377, + -1973.2726299426647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -697.3080505444843, + -1971.7726299426647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -694.709974333131, + -1970.2726299426647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -692.1118981217776, + -1968.7726299426647, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -692.1118981217776, + -1968.7726299426647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -690.6118981217776, + -1966.1745537313113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -689.1118981217776, + -1963.576477519958, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -687.6118981217776, + -1960.9784013086046, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -686.1118981217776, + -1958.3803250972512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -684.6118981217776, + -1955.7822488858978, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -683.1118981217776, + -1953.1841726745445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -681.6118981217776, + -1950.586096463191, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -680.1118981217776, + -1947.9880202518377, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-28-41_1450573622/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-28-41_1450573622/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34683c843a34cc63ab70b76422268c726c01fc24 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-28-41_1450573622/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -116.8947273828291, + -1411.2987836258567, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -118.3947273828291, + -1413.89685983721, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -119.8947273828291, + -1416.4949360485634, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -121.3947273828291, + -1419.0930122599168, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -122.8947273828291, + -1421.6910884712702, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -124.3947273828291, + -1424.2891646826236, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -125.8947273828291, + -1426.887240893977, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -127.3947273828291, + -1429.4853171053303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -128.8947273828291, + -1432.0833933166837, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -130.3947273828291, + -1434.681469528037, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -131.8947273828291, + -1437.2795457393904, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -133.3947273828291, + -1439.8776219507438, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -134.8947273828291, + -1442.4756981620972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -136.3947273828291, + -1445.0737743734505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -137.8947273828291, + -1447.671850584804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -139.3947273828291, + -1450.2699267961573, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -140.8947273828291, + -1452.8680030075107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -142.3947273828291, + -1455.466079218864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -143.8947273828291, + -1458.0641554302174, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -145.3947273828291, + -1460.6622316415708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -146.8947273828291, + -1463.2603078529241, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -148.3947273828291, + -1465.8583840642775, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -149.8947273828291, + -1468.456460275631, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -151.3947273828291, + -1471.0545364869843, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -152.8947273828291, + -1473.6526126983376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -154.3947273828291, + -1476.250688909691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -155.8947273828291, + -1478.8487651210444, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -157.3947273828291, + -1481.4468413323978, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -158.8947273828291, + -1484.0449175437511, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -160.3947273828291, + -1486.6429937551045, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -161.8947273828291, + -1489.2410699664579, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -163.3947273828291, + -1491.8391461778112, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -164.8947273828291, + -1494.4372223891646, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -164.8947273828291, + -1494.4372223891646, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -164.8947273828291, + -1497.4372223891646, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -164.8947273828291, + -1500.4372223891646, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -164.8947273828291, + -1503.4372223891646, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -164.8947273828291, + -1506.4372223891646, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -164.8947273828291, + -1509.4372223891646, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -164.8947273828291, + -1512.4372223891646, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -164.8947273828291, + -1515.4372223891646, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -164.8947273828291, + -1518.4372223891646, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-31-11_392035568/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-31-11_392035568/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..63e944c13d686d7139ca550a28a6d67699c548b7 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-31-11_392035568/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 297.2420516425964, + -1460.9163492825178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 295.7420516425964, + -1458.3182730711644, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 294.2420516425964, + -1455.720196859811, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 292.7420516425964, + -1453.1221206484577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 291.2420516425964, + -1450.5240444371043, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 289.7420516425964, + -1447.925968225751, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 288.2420516425964, + -1445.3278920143975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 286.7420516425964, + -1442.7298158030442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 285.2420516425964, + -1440.1317395916908, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 283.7420516425964, + -1437.5336633803374, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 282.2420516425964, + -1434.935587168984, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 280.7420516425964, + -1432.3375109576307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 279.2420516425964, + -1429.7394347462773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 277.7420516425964, + -1427.141358534924, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 276.2420516425964, + -1424.5432823235706, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 274.7420516425964, + -1421.9452061122172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 273.2420516425964, + -1419.3471299008638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 271.7420516425964, + -1416.7490536895104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 270.2420516425964, + -1414.150977478157, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 268.7420516425964, + -1411.5529012668037, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 267.2420516425964, + -1408.9548250554503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 265.7420516425964, + -1406.356748844097, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 265.7420516425964, + -1406.356748844097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 265.7420516425964, + -1403.356748844097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 265.7420516425964, + -1400.356748844097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 265.7420516425964, + -1397.356748844097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 265.7420516425964, + -1394.356748844097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 265.7420516425964, + -1391.356748844097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 265.7420516425964, + -1388.356748844097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 265.7420516425964, + -1385.356748844097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 265.7420516425964, + -1382.356748844097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 265.7420516425964, + -1379.356748844097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 265.7420516425964, + -1376.356748844097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 265.7420516425964, + -1373.356748844097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 265.7420516425964, + -1370.356748844097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 265.7420516425964, + -1367.356748844097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 265.7420516425964, + -1364.356748844097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 265.7420516425964, + -1361.356748844097, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 265.7420516425964, + -1361.356748844097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 264.2420516425964, + -1358.7586726327436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 262.7420516425964, + -1356.1605964213902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 261.2420516425964, + -1353.5625202100368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 259.7420516425964, + -1350.9644439986835, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 258.2420516425964, + -1348.36636778733, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 256.7420516425964, + -1345.7682915759767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 255.24205164259638, + -1343.1702153646233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 253.74205164259638, + -1340.57213915327, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 253.74205164259638, + -1340.57213915327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 251.14397543124306, + -1339.07213915327, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914846 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-50-55_404158660/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-50-55_404158660/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6c4a437f79f13a36e5db94ac0d859d89bf4e14b5 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-50-55_404158660/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -985.1597108725366, + -2780.058943537225, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -983.6597108725366, + -2782.657019748578, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -982.1597108725366, + -2785.255095959931, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -980.6597108725366, + -2787.8531721712843, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -979.1597108725366, + -2790.4512483826375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -977.6597108725366, + -2793.0493245939906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -976.1597108725366, + -2795.6474008053438, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -974.6597108725366, + -2798.245477016697, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -973.1597108725366, + -2800.84355322805, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -973.1597108725366, + -2800.84355322805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -970.5616346611832, + -2802.34355322805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -967.9635584498299, + -2803.84355322805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -965.3654822384765, + -2805.34355322805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -962.7674060271231, + -2806.84355322805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -960.1693298157697, + -2808.34355322805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -957.5712536044164, + -2809.84355322805, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -957.5712536044164, + -2809.84355322805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -956.0712536044164, + -2812.441629439403, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -954.5712536044164, + -2815.0397056507563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -953.0712536044164, + -2817.6377818621095, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -951.5712536044164, + -2820.2358580734626, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -950.0712536044164, + -2822.8339342848158, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -948.5712536044164, + -2825.432010496169, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -947.0712536044164, + -2828.030086707522, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -945.5712536044164, + -2830.628162918875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -944.0712536044164, + -2833.2262391302284, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -942.5712536044164, + -2835.8243153415815, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -941.0712536044164, + -2838.4223915529346, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -939.5712536044164, + -2841.020467764288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -938.0712536044164, + -2843.618543975641, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -936.5712536044164, + -2846.216620186994, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -935.0712536044164, + -2848.814696398347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -933.5712536044164, + -2851.4127726097004, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -933.5712536044164, + -2851.4127726097004, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -933.5712536044164, + -2854.4127726097004, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -933.5712536044164, + -2857.4127726097004, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -933.5712536044164, + -2860.4127726097004, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -933.5712536044164, + -2863.4127726097004, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -933.5712536044164, + -2866.4127726097004, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -933.5712536044164, + -2869.4127726097004, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -933.5712536044164, + -2872.4127726097004, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -933.5712536044164, + -2875.4127726097004, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -933.5712536044164, + -2878.4127726097004, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -933.5712536044164, + -2881.4127726097004, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -933.5712536044164, + -2884.4127726097004, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -933.5712536044164, + -2887.4127726097004, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -933.5712536044164, + -2890.4127726097004, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -933.5712536044164, + -2893.4127726097004, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -933.5712536044164, + -2896.4127726097004, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -933.5712536044164, + -2899.4127726097004, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -933.5712536044164, + -2899.4127726097004, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -935.0712536044164, + -2902.0108488210535, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -936.5712536044164, + -2904.6089250324067, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -938.0712536044164, + -2907.20700124376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -939.5712536044164, + -2909.805077455113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -941.0712536044164, + -2912.403153666466, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -942.5712536044164, + -2915.0012298778192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -944.0712536044164, + -2917.5993060891724, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-53-31_1501252996/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-53-31_1501252996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7fcd60557ae2af63ee01c3db74c177224eaf18f8 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-53-31_1501252996/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 391.2268410293765, + -1327.1298701138721, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 389.7268410293765, + -1324.5317939025188, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 388.2268410293765, + -1321.9337176911654, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 388.2268410293765, + -1321.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 385.62876481802317, + -1320.4337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 383.03068860666986, + -1318.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 380.43261239531654, + -1317.4337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 377.8345361839632, + -1315.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 375.2364599726099, + -1314.4337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 372.6383837612566, + -1312.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 370.0403075499033, + -1311.4337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 367.44223133854996, + -1309.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 364.84415512719664, + -1308.4337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 362.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 362.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 359.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 356.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 353.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 350.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 347.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 344.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 341.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 338.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 335.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 332.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 329.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 326.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 323.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 320.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 317.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 314.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 311.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 308.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 305.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 302.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 299.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 296.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 293.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 290.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 287.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 284.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 281.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 281.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 281.2460789158433, + -1306.9337176911654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 279.7460789158433, + -1309.5317939025188, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 278.2460789158433, + -1312.1298701138721, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 276.7460789158433, + -1314.7279463252255, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 275.2460789158433, + -1317.3260225365789, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 275.2460789158433, + -1317.3260225365789, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 275.2460789158433, + -1317.3260225365789, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897833 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 272.2460789158433, + -1317.3260225365789, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -3.1415926535897833 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-14-15_1950955939/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-14-15_1950955939/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ff05032fe8d4b70b3cdf226423cf063e77b11b97 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-14-15_1950955939/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -46.8646351982559, + -1802.2160879046514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -45.3646351982559, + -1799.618011693298, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -43.8646351982559, + -1797.0199354819447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -42.3646351982559, + -1794.4218592705913, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -40.8646351982559, + -1791.823783059238, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -39.3646351982559, + -1789.2257068478846, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -37.8646351982559, + -1786.6276306365312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -36.3646351982559, + -1784.0295544251778, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -34.8646351982559, + -1781.4314782138244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -33.3646351982559, + -1778.833402002471, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -31.864635198255897, + -1776.2353257911177, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -31.864635198255897, + -1776.2353257911177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -31.864635198255897, + -1773.2353257911177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -31.864635198255897, + -1770.2353257911177, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -31.864635198255897, + -1770.2353257911177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -30.364635198255897, + -1767.6372495797643, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -28.864635198255897, + -1765.039173368411, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -27.364635198255897, + -1762.4410971570576, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -25.864635198255897, + -1759.8430209457042, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -24.364635198255897, + -1757.2449447343508, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -22.864635198255897, + -1754.6468685229975, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -22.864635198255897, + -1754.6468685229975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -20.26655898690258, + -1753.1468685229975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -17.668482775549265, + -1751.6468685229975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -15.070406564195949, + -1750.1468685229975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -12.472330352842633, + -1748.6468685229975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -9.874254141489317, + -1747.1468685229975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -7.276177930136001, + -1745.6468685229975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -4.678101718782685, + -1744.1468685229975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2.0800255074293688, + -1742.6468685229975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 0.5180507039239473, + -1741.1468685229975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3.1161269152772633, + -1739.6468685229975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 5.714203126630579, + -1738.1468685229975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 8.312279337983895, + -1736.6468685229975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 10.910355549337211, + -1735.1468685229975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 13.508431760690527, + -1733.6468685229975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 16.106507972043843, + -1732.1468685229975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 18.70458418339716, + -1730.6468685229975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 21.302660394750475, + -1729.1468685229975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 23.90073660610379, + -1727.6468685229975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 26.498812817457107, + -1726.1468685229975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 29.096889028810423, + -1724.6468685229975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 31.69496524016374, + -1723.1468685229975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 34.293041451517055, + -1721.6468685229975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 36.89111766287037, + -1720.1468685229975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 39.48919387422369, + -1718.6468685229975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 42.087270085577, + -1717.1468685229975, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-20-51_1389867269/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-20-51_1389867269/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b977c78ad774541a00d8e9aa6eac618cafde8441 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-20-51_1389867269/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1011.7631558190081, + -2795.6533848018416, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1010.2631558190081, + -2798.251461013195, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1008.7631558190081, + -2800.849537224548, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1007.2631558190081, + -2803.447613435901, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1005.7631558190081, + -2806.045689647254, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1004.2631558190081, + -2808.6437658586074, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1002.7631558190081, + -2811.2418420699605, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1001.2631558190081, + -2813.8399182813137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -999.7631558190081, + -2816.437994492667, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -999.7631558190081, + -2816.437994492667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -999.7631558190081, + -2819.437994492667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -999.7631558190081, + -2822.437994492667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -999.7631558190081, + -2825.437994492667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -999.7631558190081, + -2828.437994492667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -999.7631558190081, + -2831.437994492667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -999.7631558190081, + -2834.437994492667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -999.7631558190081, + -2837.437994492667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -999.7631558190081, + -2840.437994492667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -999.7631558190081, + -2843.437994492667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -999.7631558190081, + -2846.437994492667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -999.7631558190081, + -2849.437994492667, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -999.7631558190081, + -2849.437994492667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -998.2631558190081, + -2852.03607070402, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -996.7631558190081, + -2854.634146915373, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -995.2631558190081, + -2857.2322231267262, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -993.7631558190081, + -2859.8302993380794, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -992.2631558190081, + -2862.4283755494325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -990.7631558190081, + -2865.0264517607857, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -989.2631558190081, + -2867.624527972139, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -987.7631558190081, + -2870.222604183492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -986.2631558190081, + -2872.820680394845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -984.7631558190081, + -2875.4187566061983, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -983.2631558190081, + -2878.0168328175514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -981.7631558190081, + -2880.6149090289045, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -980.2631558190081, + -2883.2129852402577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -978.7631558190081, + -2885.811061451611, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -977.2631558190081, + -2888.409137662964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -975.7631558190081, + -2891.007213874317, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -974.2631558190081, + -2893.6052900856703, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -972.7631558190081, + -2896.2033662970234, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -971.2631558190081, + -2898.8014425083766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -969.7631558190081, + -2901.3995187197297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -968.2631558190081, + -2903.997594931083, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -966.7631558190081, + -2906.595671142436, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -966.7631558190081, + -2906.595671142436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -964.1650796076549, + -2908.095671142436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -961.5670033963015, + -2909.595671142436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -958.9689271849481, + -2911.095671142436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -956.3708509735948, + -2912.595671142436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -953.7727747622414, + -2914.095671142436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -951.174698550888, + -2915.595671142436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -948.5766223395347, + -2917.095671142436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -945.9785461281813, + -2918.595671142436, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-24-20_1253207672/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-24-20_1253207672/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8a141b711f9e9a1707897b282031a69591a998cc --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-24-20_1253207672/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -95.96945306218706, + -1411.8715824479254, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -97.46945306218706, + -1414.4696586592788, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -98.96945306218706, + -1417.0677348706322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -100.46945306218706, + -1419.6658110819856, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -101.96945306218706, + -1422.263887293339, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -103.46945306218706, + -1424.8619635046923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -104.96945306218706, + -1427.4600397160457, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -106.46945306218706, + -1430.058115927399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -107.96945306218706, + -1432.6561921387524, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -109.46945306218706, + -1435.2542683501058, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -110.96945306218706, + -1437.8523445614592, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -112.46945306218706, + -1440.4504207728125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -113.96945306218706, + -1443.048496984166, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -115.46945306218706, + -1445.6465731955193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -116.96945306218706, + -1448.2446494068727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -118.46945306218706, + -1450.842725618226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -119.96945306218706, + -1453.4408018295794, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -121.46945306218706, + -1456.0388780409328, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -122.96945306218706, + -1458.6369542522862, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -124.46945306218706, + -1461.2350304636395, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -124.46945306218706, + -1461.2350304636395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -127.06752927354037, + -1462.7350304636395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -129.6656054848937, + -1464.2350304636395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -132.263681696247, + -1465.7350304636395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -134.86175790760032, + -1467.2350304636395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -137.45983411895364, + -1468.7350304636395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -140.05791033030695, + -1470.2350304636395, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -140.05791033030695, + -1470.2350304636395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -143.05791033030695, + -1470.2350304636395, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -143.05791033030695, + -1470.2350304636395, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -143.05791033030695, + -1470.2350304636395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -144.55791033030695, + -1472.833106674993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -146.05791033030695, + -1475.4311828863463, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -147.55791033030695, + -1478.0292590976997, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -149.05791033030695, + -1480.627335309053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -150.55791033030695, + -1483.2254115204064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -152.05791033030695, + -1485.8234877317598, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -153.55791033030695, + -1488.4215639431131, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -155.05791033030695, + -1491.0196401544665, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -156.55791033030695, + -1493.61771636582, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -158.05791033030695, + -1496.2157925771733, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -159.55791033030695, + -1498.8138687885266, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -161.05791033030695, + -1501.41194499988, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -162.55791033030695, + -1504.0100212112334, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -164.05791033030695, + -1506.6080974225868, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -164.05791033030695, + -1506.6080974225868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -164.05791033030695, + -1509.6080974225868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -164.05791033030695, + -1512.6080974225868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -164.05791033030695, + -1515.6080974225868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -164.05791033030695, + -1518.6080974225868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -164.05791033030695, + -1521.6080974225868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -164.05791033030695, + -1524.6080974225868, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-25-23_1414647625/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-25-23_1414647625/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..00d6e94083fcc0d7573cb468b7e3d9cc465a486e --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-25-23_1414647625/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 407.12365164644007, + -1340.0549420241246, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 408.62365164644007, + -1337.4568658127712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 410.12365164644007, + -1334.8587896014178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 411.62365164644007, + -1332.2607133900644, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 413.12365164644007, + -1329.662637178711, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 413.12365164644007, + -1329.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 413.12365164644007, + -1326.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 413.12365164644007, + -1323.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 413.12365164644007, + -1320.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 413.12365164644007, + -1317.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 413.12365164644007, + -1314.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 413.12365164644007, + -1311.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 413.12365164644007, + -1308.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 413.12365164644007, + -1305.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 413.12365164644007, + -1302.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 413.12365164644007, + -1299.662637178711, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 413.12365164644007, + -1299.662637178711, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 413.12365164644007, + -1299.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 415.7217278577934, + -1298.162637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 418.3198040691467, + -1296.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 420.9178802805, + -1295.162637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 423.51595649185333, + -1293.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 426.11403270320665, + -1292.162637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 428.71210891455996, + -1290.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 431.3101851259133, + -1289.162637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 433.9082613372666, + -1287.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 436.5063375486199, + -1286.162637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 439.1044137599732, + -1284.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 441.70248997132654, + -1283.162637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 444.30056618267986, + -1281.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 446.8986423940332, + -1280.162637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 449.4967186053865, + -1278.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 452.0947948167398, + -1277.162637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 454.6928710280931, + -1275.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 457.29094723944644, + -1274.162637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 459.88902345079975, + -1272.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 462.48709966215307, + -1271.162637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 465.0851758735064, + -1269.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 467.6832520848597, + -1268.162637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 470.281328296213, + -1266.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 472.87940450756633, + -1265.162637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 475.47748071891965, + -1263.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 478.07555693027297, + -1262.162637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 480.6736331416263, + -1260.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 483.2717093529796, + -1259.162637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 485.8697855643329, + -1257.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 488.46786177568623, + -1256.162637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 491.06593798703955, + -1254.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 493.66401419839286, + -1253.162637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 496.2620904097462, + -1251.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 498.8601666210995, + -1250.162637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 501.4582428324528, + -1248.662637178711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 504.0563190438061, + -1247.162637178711, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-28-18_1111783898/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-28-18_1111783898/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f00bf402fa0becf9fd205f1f9a339335df097937 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-28-18_1111783898/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -60.2418296101129, + -1452.1520936329716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -62.83990582146622, + -1453.6520936329716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -65.43798203281953, + -1455.1520936329716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -68.03605824417285, + -1456.6520936329716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -70.63413445552617, + -1458.1520936329716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -73.23221066687948, + -1459.6520936329716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -75.8302868782328, + -1461.1520936329716, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -75.8302868782328, + -1461.1520936329716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -77.3302868782328, + -1463.750169844325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -78.8302868782328, + -1466.3482460556784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -80.3302868782328, + -1468.9463222670317, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -81.8302868782328, + -1471.5443984783851, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -83.3302868782328, + -1474.1424746897385, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -84.8302868782328, + -1476.7405509010919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -86.3302868782328, + -1479.3386271124452, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -87.8302868782328, + -1481.9367033237986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -89.3302868782328, + -1484.534779535152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -90.8302868782328, + -1487.1328557465054, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -92.3302868782328, + -1489.7309319578587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -93.8302868782328, + -1492.329008169212, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -95.3302868782328, + -1494.9270843805655, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -96.8302868782328, + -1497.5251605919188, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -98.3302868782328, + -1500.1232368032722, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -99.8302868782328, + -1502.7213130146256, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -101.3302868782328, + -1505.319389225979, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -102.8302868782328, + -1507.9174654373323, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -102.8302868782328, + -1507.9174654373323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -105.42836308958611, + -1509.4174654373323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -108.02643930093943, + -1510.9174654373323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -110.62451551229275, + -1512.4174654373323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -113.22259172364606, + -1513.9174654373323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -115.82066793499938, + -1515.4174654373323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -118.4187441463527, + -1516.9174654373323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -121.01682035770601, + -1518.4174654373323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -123.61489656905933, + -1519.9174654373323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -126.21297278041264, + -1521.4174654373323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -128.81104899176597, + -1522.9174654373323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -131.4091252031193, + -1524.4174654373323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -134.0072014144726, + -1525.9174654373323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -136.60527762582592, + -1527.4174654373323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -139.20335383717924, + -1528.9174654373323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -141.80143004853255, + -1530.4174654373323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -144.39950625988587, + -1531.9174654373323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -146.99758247123918, + -1533.4174654373323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -149.5956586825925, + -1534.9174654373323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -152.19373489394582, + -1536.4174654373323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -154.79181110529913, + -1537.9174654373323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -157.38988731665245, + -1539.4174654373323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -159.98796352800576, + -1540.9174654373323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -162.58603973935908, + -1542.4174654373323, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-34-19_1927495994/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-34-19_1927495994/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..10795e781b3eeabeec3dfd1640be8a9f619bf8b3 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-34-19_1927495994/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 404.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 401.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 398.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 395.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 392.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 389.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 386.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 383.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 380.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 377.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 374.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 371.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 368.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 365.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 362.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 359.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 356.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 353.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 350.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 347.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 344.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 341.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 338.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 335.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 332.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 329.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 326.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 323.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 320.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 317.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 314.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 311.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 308.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 305.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 302.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 299.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 296.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 293.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 290.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 287.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 284.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 281.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 278.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 275.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 275.71905706302255, + -1379.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 273.12098085166923, + -1377.6363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 270.5229046403159, + -1376.1363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 267.9248284289626, + -1374.6363199156153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 265.3267522176093, + -1373.1363199156153, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-44-22_648031326/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-44-22_648031326/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec276d95b01e6abde05f37e4310e23a253348de7 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-44-22_648031326/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -83.52021114674778, + -1415.0555069999825, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -85.02021114674778, + -1417.653583211336, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -86.52021114674778, + -1420.2516594226893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -88.02021114674778, + -1422.8497356340426, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -88.02021114674778, + -1422.8497356340426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -90.6182873581011, + -1424.3497356340426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -93.21636356945442, + -1425.8497356340426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -95.81443978080773, + -1427.3497356340426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -98.41251599216105, + -1428.8497356340426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -101.01059220351436, + -1430.3497356340426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -103.60866841486768, + -1431.8497356340426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -106.206744626221, + -1433.3497356340426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -108.80482083757431, + -1434.8497356340426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -111.40289704892763, + -1436.3497356340426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -114.00097326028094, + -1437.8497356340426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -116.59904947163426, + -1439.3497356340426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -119.19712568298758, + -1440.8497356340426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -121.79520189434089, + -1442.3497356340426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -124.39327810569421, + -1443.8497356340426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -126.99135431704752, + -1445.3497356340426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -129.58943052840084, + -1446.8497356340426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -132.18750673975416, + -1448.3497356340426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -134.78558295110747, + -1449.8497356340426, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -134.78558295110747, + -1449.8497356340426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -136.28558295110747, + -1452.447811845396, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -137.78558295110747, + -1455.0458880567494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -139.28558295110747, + -1457.6439642681028, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -140.78558295110747, + -1460.2420404794561, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -142.28558295110747, + -1462.8401166908095, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -143.78558295110747, + -1465.4381929021629, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -145.28558295110747, + -1468.0362691135163, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -146.78558295110747, + -1470.6343453248696, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -148.28558295110747, + -1473.232421536223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -149.78558295110747, + -1475.8304977475764, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -151.28558295110747, + -1478.4285739589297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -152.78558295110747, + -1481.0266501702831, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -154.28558295110747, + -1483.6247263816365, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -155.78558295110747, + -1486.2228025929899, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -157.28558295110747, + -1488.8208788043432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -158.78558295110747, + -1491.4189550156966, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -160.28558295110747, + -1494.01703122705, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -161.78558295110747, + -1496.6151074384034, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -161.78558295110747, + -1496.6151074384034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -161.78558295110747, + -1499.6151074384034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -161.78558295110747, + -1502.6151074384034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -161.78558295110747, + -1505.6151074384034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -161.78558295110747, + -1508.6151074384034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -161.78558295110747, + -1511.6151074384034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -161.78558295110747, + -1514.6151074384034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -161.78558295110747, + -1517.6151074384034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -161.78558295110747, + -1520.6151074384034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -161.78558295110747, + -1523.6151074384034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -161.78558295110747, + -1526.6151074384034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -161.78558295110747, + -1529.6151074384034, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-52-57_1908518808/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-52-57_1908518808/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..885023614a8544e8d18730aa93911cc08e550700 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-52-57_1908518808/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -158.33232573802013, + -1560.5574577956086, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -158.33232573802013, + -1557.5574577956086, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -158.33232573802013, + -1557.5574577956086, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -159.83232573802013, + -1554.9593815842552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -161.33232573802013, + -1552.3613053729018, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -162.83232573802013, + -1549.7632291615485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -164.33232573802013, + -1547.165152950195, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -165.83232573802013, + -1544.5670767388417, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -167.33232573802013, + -1541.9690005274883, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -168.83232573802013, + -1539.370924316135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -170.33232573802013, + -1536.7728481047816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -171.83232573802013, + -1534.1747718934282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -173.33232573802013, + -1531.5766956820748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -174.83232573802013, + -1528.9786194707215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -176.33232573802013, + -1526.380543259368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -177.83232573802013, + -1523.7824670480147, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -179.33232573802013, + -1521.1843908366614, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -180.83232573802013, + -1518.586314625308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -182.33232573802013, + -1515.9882384139546, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -183.83232573802013, + -1513.3901622026012, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -185.33232573802013, + -1510.7920859912479, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -186.83232573802013, + -1508.1940097798945, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -186.83232573802013, + -1508.1940097798945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -189.43040194937345, + -1506.6940097798945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -192.02847816072676, + -1505.1940097798945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -194.62655437208008, + -1503.6940097798945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -197.2246305834334, + -1502.1940097798945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -199.8227067947867, + -1500.6940097798945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -202.42078300614003, + -1499.1940097798945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -205.01885921749334, + -1497.6940097798945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -207.61693542884666, + -1496.1940097798945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -210.21501164019998, + -1494.6940097798945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -212.8130878515533, + -1493.1940097798945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -215.4111640629066, + -1491.6940097798945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -218.00924027425992, + -1490.1940097798945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -220.60731648561324, + -1488.6940097798945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -223.20539269696656, + -1487.1940097798945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -225.80346890831987, + -1485.6940097798945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -228.4015451196732, + -1484.1940097798945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -230.9996213310265, + -1482.6940097798945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -233.59769754237982, + -1481.1940097798945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -236.19577375373314, + -1479.6940097798945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -238.79384996508645, + -1478.1940097798945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -241.39192617643977, + -1476.6940097798945, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-53-56_364686248/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-53-56_364686248/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f4647ab4f1ad596d925a8d535423e659d31ef0fa --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-53-56_364686248/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 8.341985478664057, + -1548.288258243115, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 9.841985478664057, + -1550.8863344544684, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 11.341985478664057, + -1553.4844106658218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 12.841985478664057, + -1556.0824868771751, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 14.341985478664057, + -1558.6805630885285, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 15.841985478664057, + -1561.278639299882, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 17.341985478664057, + -1563.8767155112353, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 18.841985478664057, + -1566.4747917225886, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 20.341985478664057, + -1569.072867933942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 21.841985478664057, + -1571.6709441452954, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 23.341985478664057, + -1574.2690203566488, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 24.841985478664057, + -1576.8670965680021, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 26.341985478664057, + -1579.4651727793555, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 27.841985478664057, + -1582.0632489907089, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 29.341985478664057, + -1584.6613252020622, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 30.841985478664057, + -1587.2594014134156, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 32.34198547866406, + -1589.857477624769, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 33.84198547866406, + -1592.4555538361224, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 35.34198547866406, + -1595.0536300474757, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 36.84198547866406, + -1597.651706258829, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 38.34198547866406, + -1600.2497824701825, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 39.84198547866406, + -1602.8478586815359, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 41.34198547866406, + -1605.4459348928892, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 42.84198547866406, + -1608.0440111042426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 44.34198547866406, + -1610.642087315596, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 44.34198547866406, + -1610.642087315596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 44.34198547866406, + -1613.642087315596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 44.34198547866406, + -1616.642087315596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 44.34198547866406, + -1619.642087315596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 44.34198547866406, + -1622.642087315596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 44.34198547866406, + -1625.642087315596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 44.34198547866406, + -1628.642087315596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 44.34198547866406, + -1631.642087315596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 44.34198547866406, + -1634.642087315596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 44.34198547866406, + -1637.642087315596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 44.34198547866406, + -1640.642087315596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 44.34198547866406, + -1643.642087315596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 44.34198547866406, + -1646.642087315596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 44.34198547866406, + -1649.642087315596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 44.34198547866406, + -1652.642087315596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 44.34198547866406, + -1655.642087315596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 44.34198547866406, + -1658.642087315596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 44.34198547866406, + -1661.642087315596, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 44.34198547866406, + -1661.642087315596, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 44.34198547866406, + -1661.642087315596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 46.94006169001737, + -1663.142087315596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 49.53813790137069, + -1664.642087315596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 52.136214112724005, + -1666.142087315596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 54.73429032407732, + -1667.642087315596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 57.33236653543064, + -1669.142087315596, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-55-32_1329132133/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-55-32_1329132133/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ea2983a43b40b0d6737f12afe47bc39f420a00f9 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-55-32_1329132133/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -970.8210751867501, + -2782.5559162603454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -969.3210751867501, + -2785.1539924716985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -967.8210751867501, + -2787.7520686830517, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -966.3210751867501, + -2790.350144894405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -964.8210751867501, + -2792.948221105758, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -963.3210751867501, + -2795.546297317111, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -961.8210751867501, + -2798.1443735284643, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -960.3210751867501, + -2800.7424497398174, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -958.8210751867501, + -2803.3405259511705, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -957.3210751867501, + -2805.9386021625237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -955.8210751867501, + -2808.536678373877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -954.3210751867501, + -2811.13475458523, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -952.8210751867501, + -2813.732830796583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -951.3210751867501, + -2816.3309070079363, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -949.8210751867501, + -2818.9289832192894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -948.3210751867501, + -2821.5270594306426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -946.8210751867501, + -2824.1251356419957, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -945.3210751867501, + -2826.723211853349, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -943.8210751867501, + -2829.321288064702, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -942.3210751867501, + -2831.919364276055, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -940.8210751867501, + -2834.5174404874083, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -939.3210751867501, + -2837.1155166987614, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -937.8210751867501, + -2839.7135929101146, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -936.3210751867501, + -2842.3116691214677, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -934.8210751867501, + -2844.909745332821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -933.3210751867501, + -2847.507821544174, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -933.3210751867501, + -2847.507821544174, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -933.3210751867501, + -2850.507821544174, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -933.3210751867501, + -2853.507821544174, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -933.3210751867501, + -2856.507821544174, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -933.3210751867501, + -2859.507821544174, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -933.3210751867501, + -2862.507821544174, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -933.3210751867501, + -2865.507821544174, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -933.3210751867501, + -2868.507821544174, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -933.3210751867501, + -2871.507821544174, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -933.3210751867501, + -2874.507821544174, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -933.3210751867501, + -2877.507821544174, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -933.3210751867501, + -2880.507821544174, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -933.3210751867501, + -2883.507821544174, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -933.3210751867501, + -2886.507821544174, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -933.3210751867501, + -2889.507821544174, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -933.3210751867501, + -2892.507821544174, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -933.3210751867501, + -2892.507821544174, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -934.8210751867501, + -2895.105897755527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -936.3210751867501, + -2897.7039739668803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -937.8210751867501, + -2900.3020501782335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -939.3210751867501, + -2902.9001263895866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -940.8210751867501, + -2905.4982026009397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -942.3210751867501, + -2908.096278812293, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -943.8210751867501, + -2910.694355023646, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -943.8210751867501, + -2910.694355023646, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794925 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -943.8210751867501, + -2913.694355023646, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -943.8210751867501, + -2916.694355023646, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-56-30_501772890/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-56-30_501772890/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77f082d7e6c2ab7fa5cf261ce262d8ab9c5da731 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-56-30_501772890/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 184.1280710122173, + -1583.6835737165723, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 181.529994800864, + -1585.1835737165723, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 178.93191858951067, + -1586.6835737165723, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 176.33384237815736, + -1588.1835737165723, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 173.73576616680404, + -1589.6835737165723, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 171.13768995545072, + -1591.1835737165723, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 168.5396137440974, + -1592.6835737165723, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 165.9415375327441, + -1594.1835737165723, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 163.34346132139078, + -1595.6835737165723, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 160.74538511003746, + -1597.1835737165723, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 158.14730889868414, + -1598.6835737165723, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 155.54923268733083, + -1600.1835737165723, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 155.54923268733083, + -1600.1835737165723, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 154.04923268733083, + -1602.7816499279256, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 152.54923268733083, + -1605.379726139279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 151.04923268733083, + -1607.9778023506324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 149.54923268733083, + -1610.5758785619857, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 148.04923268733083, + -1613.1739547733391, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 146.54923268733083, + -1615.7720309846925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 145.04923268733083, + -1618.3701071960459, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 143.54923268733083, + -1620.9681834073992, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 142.04923268733083, + -1623.5662596187526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 140.54923268733083, + -1626.164335830106, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 139.04923268733083, + -1628.7624120414594, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 137.54923268733083, + -1631.3604882528127, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 136.04923268733083, + -1633.958564464166, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 134.54923268733083, + -1636.5566406755195, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 133.04923268733083, + -1639.1547168868728, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 131.54923268733083, + -1641.7527930982262, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 130.04923268733083, + -1644.3508693095796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 128.54923268733083, + -1646.948945520933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 127.04923268733083, + -1649.5470217322863, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 125.54923268733083, + -1652.1450979436397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 124.04923268733083, + -1654.743174154993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 122.54923268733083, + -1657.3412503663465, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 122.54923268733083, + -1657.3412503663465, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 119.95115647597751, + -1658.8412503663465, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 117.3530802646242, + -1660.3412503663465, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 114.75500405327088, + -1661.8412503663465, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 112.15692784191756, + -1663.3412503663465, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 109.55885163056425, + -1664.8412503663465, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 106.96077541921093, + -1666.3412503663465, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 104.36269920785762, + -1667.8412503663465, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 101.7646229965043, + -1669.3412503663465, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 99.16654678515098, + -1670.8412503663465, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 96.56847057379767, + -1672.3412503663465, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +}