diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_12-56-14_1548233367/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_12-56-14_1548233367/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f89caab96afc8b574e1f460a541dddba20a2d75 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_12-56-14_1548233367/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -678.6424348223344, + -1614.1107660176858, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -677.1424348223344, + -1611.5126898063324, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -675.6424348223344, + -1608.914613594979, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -674.1424348223344, + -1606.3165373836257, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -672.6424348223344, + -1603.7184611722723, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -671.1424348223344, + -1601.120384960919, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -669.6424348223344, + -1598.5223087495656, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -668.1424348223344, + -1595.9242325382122, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -666.6424348223344, + -1593.3261563268588, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -665.1424348223344, + -1590.7280801155055, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -663.6424348223344, + -1588.130003904152, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -662.1424348223344, + -1585.5319276927987, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -660.6424348223344, + -1582.9338514814453, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -659.1424348223344, + -1580.335775270092, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -657.6424348223344, + -1577.7376990587386, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -656.1424348223344, + -1575.1396228473852, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -654.6424348223344, + -1572.5415466360319, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -653.1424348223344, + -1569.9434704246785, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -651.6424348223344, + -1567.345394213325, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -650.1424348223344, + -1564.7473180019717, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -648.6424348223344, + -1562.1492417906184, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -647.1424348223344, + -1559.551165579265, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -645.6424348223344, + -1556.9530893679116, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -644.1424348223344, + -1554.3550131565582, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -642.6424348223344, + -1551.7569369452049, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -641.1424348223344, + -1549.1588607338515, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -639.6424348223344, + -1546.5607845224981, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -638.1424348223344, + -1543.9627083111448, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -636.6424348223344, + -1541.3646320997914, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -635.1424348223344, + -1538.766555888438, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -633.6424348223344, + -1536.1684796770846, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -632.1424348223344, + -1533.5704034657313, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -630.6424348223344, + -1530.972327254378, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -629.1424348223344, + -1528.3742510430245, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -627.6424348223344, + -1525.7761748316711, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -626.1424348223344, + -1523.1780986203178, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -624.6424348223344, + -1520.5800224089644, + 62.630339354823434 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -624.6424348223344, + -1520.5800224089644, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -624.6424348223344, + -1517.5800224089644, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -624.6424348223344, + -1514.5800224089644, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -624.6424348223344, + -1511.5800224089644, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -624.6424348223344, + -1508.5800224089644, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -624.6424348223344, + -1505.5800224089644, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -624.6424348223344, + -1502.5800224089644, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -624.6424348223344, + -1499.5800224089644, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -624.6424348223344, + -1496.5800224089644, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -624.6424348223344, + -1493.5800224089644, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -624.6424348223344, + -1490.5800224089644, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -624.6424348223344, + -1487.5800224089644, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -624.6424348223344, + -1484.5800224089644, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -624.6424348223344, + -1481.5800224089644, + 62.630339354823434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -624.6424348223344, + -1478.5800224089644, + 62.630339354823434 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -616.0, + -1460.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_14-11-48_722308542/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_14-11-48_722308542/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..91865dff29253623fd98b17a4e6c0db8b8e583bd --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_14-11-48_722308542/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -80.56452818086628, + -200.6875836546763, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -83.16260439221959, + -199.1875836546763, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -85.76068060357291, + -197.6875836546763, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -88.35875681492622, + -196.1875836546763, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -90.95683302627954, + -194.6875836546763, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -93.55490923763286, + -193.1875836546763, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -96.15298544898617, + -191.6875836546763, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -98.75106166033949, + -190.1875836546763, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -101.3491378716928, + -188.6875836546763, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -103.94721408304612, + -187.1875836546763, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -106.54529029439944, + -185.6875836546763, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -109.14336650575275, + -184.1875836546763, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -111.74144271710607, + -182.6875836546763, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -114.33951892845938, + -181.1875836546763, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -116.9375951398127, + -179.6875836546763, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -119.53567135116602, + -178.1875836546763, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -122.13374756251933, + -176.6875836546763, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -124.73182377387265, + -175.1875836546763, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -127.32989998522596, + -173.6875836546763, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -129.92797619657927, + -172.1875836546763, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991492 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -132.52605240793258, + -170.6875836546763, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -135.1241286192859, + -169.1875836546763, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -137.7222048306392, + -167.6875836546763, + 50.172973784797904 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -137.7222048306392, + -167.6875836546763, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -139.2222048306392, + -165.089507443323, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -140.7222048306392, + -162.49143123196967, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -142.2222048306392, + -159.89335502061635, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -143.7222048306392, + -157.29527880926304, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -145.2222048306392, + -154.69720259790972, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -146.7222048306392, + -152.0991263865564, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -148.2222048306392, + -149.5010501752031, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -149.7222048306392, + -146.90297396384977, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -151.2222048306392, + -144.30489775249646, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -152.7222048306392, + -141.70682154114314, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -154.2222048306392, + -139.10874532978983, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -155.7222048306392, + -136.5106691184365, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -157.2222048306392, + -133.9125929070832, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -158.7222048306392, + -131.31451669572988, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -160.2222048306392, + -128.71644048437656, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -161.7222048306392, + -126.11836427302325, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -163.2222048306392, + -123.52028806166993, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -164.7222048306392, + -120.92221185031661, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -166.2222048306392, + -118.3241356389633, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -167.7222048306392, + -115.72605942760998, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -169.2222048306392, + -113.12798321625667, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -170.7222048306392, + -110.52990700490335, + 50.172973784797904 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -172.2222048306392, + -107.93183079355003, + 50.172973784797904 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -192.0, + -88.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_16-23-30_1941690360/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_16-23-30_1941690360/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..354802eb9c8d96e2c3f2bb2fc98b01d79ec5ab1b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_16-23-30_1941690360/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1728.126519675146, + 450.5481784205108, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1726.626519675146, + 447.9501022091575, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1725.126519675146, + 445.35202599780416, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1723.626519675146, + 442.75394978645085, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1722.126519675146, + 440.15587357509753, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1720.626519675146, + 437.5577973637442, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1719.126519675146, + 434.9597211523909, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1717.626519675146, + 432.3616449410376, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1716.126519675146, + 429.76356872968427, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1714.626519675146, + 427.16549251833095, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1713.126519675146, + 424.56741630697763, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1711.626519675146, + 421.9693400956243, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1710.126519675146, + 419.371263884271, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1708.626519675146, + 416.7731876729177, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1707.126519675146, + 414.17511146156437, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1705.626519675146, + 411.57703525021105, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1704.126519675146, + 408.97895903885774, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1702.626519675146, + 406.3808828275044, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1701.126519675146, + 403.7828066161511, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1699.626519675146, + 401.1847304047978, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1698.126519675146, + 398.5866541934445, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1696.626519675146, + 395.98857798209116, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1695.126519675146, + 393.39050177073784, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1693.626519675146, + 390.7924255593845, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1692.126519675146, + 388.1943493480312, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1690.626519675146, + 385.5962731366779, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1689.126519675146, + 382.9981969253246, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1687.626519675146, + 380.40012071397126, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1686.126519675146, + 377.80204450261795, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1684.626519675146, + 375.20396829126463, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1683.126519675146, + 372.6058920799113, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1681.626519675146, + 370.007815868558, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1680.126519675146, + 367.4097396572047, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1678.626519675146, + 364.81166344585137, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1677.126519675146, + 362.21358723449805, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1675.626519675146, + 359.61551102314473, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1674.126519675146, + 357.0174348117914, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1672.626519675146, + 354.4193586004381, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1671.126519675146, + 351.8212823890848, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1669.626519675146, + 349.22320617773147, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1668.126519675146, + 346.62512996637815, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1666.626519675146, + 344.02705375502484, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1665.126519675146, + 341.4289775436715, + 58.80146201080841 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1665.126519675146, + 341.4289775436715, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1665.126519675146, + 338.4289775436715, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1665.126519675146, + 335.4289775436715, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1665.126519675146, + 332.4289775436715, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1665.126519675146, + 329.4289775436715, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1665.126519675146, + 326.4289775436715, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1665.126519675146, + 323.4289775436715, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1665.126519675146, + 320.4289775436715, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1665.126519675146, + 317.4289775436715, + 58.80146201080841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1665.126519675146, + 314.4289775436715, + 58.80146201080841 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1660.0, + 300.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_16-33-3_696947386/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_16-33-3_696947386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0fc08819da1818e474d50f2157999a880af1930b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_16-33-3_696947386/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 418.6961060758816, + 845.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 416.09802986452826, + 843.7397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 413.49995365317494, + 842.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 410.9018774418216, + 840.7397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 408.3038012304683, + 839.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 405.705725019115, + 837.7397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 403.1076488077617, + 836.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 400.50957259640836, + 834.7397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 397.91149638505505, + 833.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 395.31342017370173, + 831.7397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 392.7153439623484, + 830.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 390.1172677509951, + 828.7397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 387.5191915396418, + 827.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 384.92111532828847, + 825.7397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 382.32303911693515, + 824.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 379.72496290558183, + 822.7397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 377.1268866942285, + 821.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 374.5288104828752, + 819.7397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 371.9307342715219, + 818.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 369.33265806016857, + 816.7397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 366.73458184881525, + 815.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 364.13650563746194, + 813.7397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 361.5384294261086, + 812.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 358.9403532147553, + 810.7397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 356.342277003402, + 809.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 353.7442007920487, + 807.7397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 351.14612458069536, + 806.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 348.54804836934204, + 804.7397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 345.9499721579887, + 803.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 343.3518959466354, + 801.7397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 340.7538197352821, + 800.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 338.1557435239288, + 798.7397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 335.55766731257546, + 797.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 332.95959110122214, + 795.7397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 330.36151488986883, + 794.2397271906256, + 56.779614422802595 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 330.36151488986883, + 794.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 327.36151488986883, + 794.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 324.36151488986883, + 794.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 321.36151488986883, + 794.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 318.36151488986883, + 794.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 315.36151488986883, + 794.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 312.36151488986883, + 794.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 309.36151488986883, + 794.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 306.36151488986883, + 794.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 303.36151488986883, + 794.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 300.36151488986883, + 794.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 297.36151488986883, + 794.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 294.36151488986883, + 794.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 291.36151488986883, + 794.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 288.36151488986883, + 794.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 285.36151488986883, + 794.2397271906256, + 56.779614422802595 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 285.36151488986883, + 794.2397271906256, + 56.779614422802595 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 282.7634386785155, + 792.7397271906256, + 56.779614422802595 + ], + "type": "stop", + "value": 0, + "yaw": 3.665191429188092 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 252.0, + 780.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_17-13-55_410228794/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_17-13-55_410228794/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..785c003ed14864097f9915faebd02a257564e66f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_17-13-55_410228794/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1746.555093987161, + -889.855197462793, + 65.80760803169437 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1749.1531701985143, + -888.355197462793, + 65.80760803169437 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1751.7512464098677, + -886.855197462793, + 65.80760803169437 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1754.349322621221, + -885.355197462793, + 65.80760803169437 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1756.9473988325744, + -883.855197462793, + 65.80760803169437 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1759.5454750439278, + -882.355197462793, + 65.80760803169437 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1762.1435512552812, + -880.855197462793, + 65.80760803169437 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1764.7416274666346, + -879.355197462793, + 65.80760803169437 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1767.339703677988, + -877.855197462793, + 65.80760803169437 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1769.9377798893413, + -876.355197462793, + 65.80760803169437 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1772.5358561006947, + -874.855197462793, + 65.80760803169437 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1775.133932312048, + -873.355197462793, + 65.80760803169437 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1777.7320085234014, + -871.855197462793, + 65.80760803169437 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1780.3300847347548, + -870.355197462793, + 65.80760803169437 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1782.9281609461082, + -868.855197462793, + 65.80760803169437 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1785.5262371574615, + -867.355197462793, + 65.80760803169437 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1785.5262371574615, + -867.355197462793, + 65.80760803169437 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1788.5262371574615, + -867.355197462793, + 65.80760803169437 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1791.5262371574615, + -867.355197462793, + 65.80760803169437 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1794.5262371574615, + -867.355197462793, + 65.80760803169437 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1797.5262371574615, + -867.355197462793, + 65.80760803169437 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1800.5262371574615, + -867.355197462793, + 65.80760803169437 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1904.0, + -820.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_17-42-31_29777560/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_17-42-31_29777560/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..390b3e0feb9104d60a334774cd2a3d3c179a2d74 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_17-42-31_29777560/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1377.7926741518156, + -1439.471297722987, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1379.2926741518156, + -1442.0693739343403, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1380.7926741518156, + -1444.6674501456937, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1382.2926741518156, + -1447.265526357047, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1383.7926741518156, + -1449.8636025684004, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1385.2926741518156, + -1452.4616787797538, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1386.7926741518156, + -1455.0597549911072, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1388.2926741518156, + -1457.6578312024606, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1389.7926741518156, + -1460.255907413814, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1391.2926741518156, + -1462.8539836251673, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1392.7926741518156, + -1465.4520598365207, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1394.2926741518156, + -1468.050136047874, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1395.7926741518156, + -1470.6482122592274, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1397.2926741518156, + -1473.2462884705808, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1398.7926741518156, + -1475.8443646819342, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1400.2926741518156, + -1478.4424408932875, + 58.724223311921286 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1400.2926741518156, + -1478.4424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1402.890750363169, + -1479.9424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1405.4888265745224, + -1481.4424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1408.0869027858757, + -1482.9424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1410.684978997229, + -1484.4424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1413.2830552085825, + -1485.9424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1415.8811314199359, + -1487.4424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1418.4792076312892, + -1488.9424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1421.0772838426426, + -1490.4424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1423.675360053996, + -1491.9424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1426.2734362653493, + -1493.4424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1428.8715124767027, + -1494.9424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1431.469588688056, + -1496.4424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1434.0676648994095, + -1497.9424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1436.6657411107628, + -1499.4424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1439.2638173221162, + -1500.9424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1441.8618935334696, + -1502.4424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1444.459969744823, + -1503.9424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1447.0580459561763, + -1505.4424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1449.6561221675297, + -1506.9424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1452.254198378883, + -1508.4424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1454.8522745902364, + -1509.9424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1457.4503508015898, + -1511.4424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1460.0484270129432, + -1512.9424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1462.6465032242966, + -1514.4424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1465.24457943565, + -1515.9424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1467.8426556470033, + -1517.4424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1470.4407318583567, + -1518.9424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1473.03880806971, + -1520.4424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1475.6368842810634, + -1521.9424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1478.2349604924168, + -1523.4424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1480.8330367037702, + -1524.9424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1483.4311129151235, + -1526.4424408932875, + 58.724223311921286 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1483.4311129151235, + -1526.4424408932875, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1484.9311129151235, + -1529.040517104641, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1486.4311129151235, + -1531.6385933159943, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1487.9311129151235, + -1534.2366695273477, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1489.4311129151235, + -1536.834745738701, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1490.9311129151235, + -1539.4328219500544, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1492.4311129151235, + -1542.0308981614078, + 58.724223311921286 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1493.9311129151235, + -1544.6289743727611, + 58.724223311921286 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1508.0, + -1556.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-28-56_1140384172/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-28-56_1140384172/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f7b0ba758f7c75abfd284c694c100c1129d0d86 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-28-56_1140384172/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 959.4268202046399, + -1226.4031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 962.4268202046399, + -1226.4031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 965.4268202046399, + -1226.4031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 968.4268202046399, + -1226.4031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 971.4268202046399, + -1226.4031264628047, + 61.86562388731282 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 971.4268202046399, + -1226.4031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 974.0248964159932, + -1224.9031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 976.6229726273466, + -1223.4031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 979.2210488387, + -1221.9031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 981.8191250500533, + -1220.4031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 984.4172012614067, + -1218.9031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 987.0152774727601, + -1217.4031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 989.6133536841135, + -1215.9031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 992.2114298954668, + -1214.4031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 994.8095061068202, + -1212.9031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 997.4075823181736, + -1211.4031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1000.005658529527, + -1209.9031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1002.6037347408803, + -1208.4031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1005.2018109522337, + -1206.9031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1007.7998871635871, + -1205.4031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1010.3979633749404, + -1203.9031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1012.9960395862938, + -1202.4031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1015.5941157976472, + -1200.9031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1018.1921920090006, + -1199.4031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1020.7902682203539, + -1197.9031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1023.3883444317073, + -1196.4031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1025.9864206430607, + -1194.9031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1028.584496854414, + -1193.4031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1031.1825730657674, + -1191.9031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1033.7806492771208, + -1190.4031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1036.3787254884742, + -1188.9031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1038.9768016998275, + -1187.4031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1041.574877911181, + -1185.9031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1044.1729541225343, + -1184.4031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1046.7710303338877, + -1182.9031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1049.369106545241, + -1181.4031264628047, + 61.86562388731282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1051.9671827565944, + -1179.9031264628047, + 61.86562388731282 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1100.0, + -1156.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-31-20_51245830/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-31-20_51245830/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b022e4fb1cd783d4b69aff57318e7d34f4a6573c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-31-20_51245830/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1272.833579859547, + -483.2791011383115, + 51.18996251038981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1269.833579859547, + -483.2791011383115, + 51.18996251038981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1266.833579859547, + -483.2791011383115, + 51.18996251038981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1263.833579859547, + -483.2791011383115, + 51.18996251038981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1260.833579859547, + -483.2791011383115, + 51.18996251038981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1257.833579859547, + -483.2791011383115, + 51.18996251038981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1254.833579859547, + -483.2791011383115, + 51.18996251038981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1251.833579859547, + -483.2791011383115, + 51.18996251038981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1248.833579859547, + -483.2791011383115, + 51.18996251038981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1245.833579859547, + -483.2791011383115, + 51.18996251038981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1242.833579859547, + -483.2791011383115, + 51.18996251038981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1239.833579859547, + -483.2791011383115, + 51.18996251038981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1236.833579859547, + -483.2791011383115, + 51.18996251038981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1233.833579859547, + -483.2791011383115, + 51.18996251038981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1230.833579859547, + -483.2791011383115, + 51.18996251038981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1227.833579859547, + -483.2791011383115, + 51.18996251038981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1224.833579859547, + -483.2791011383115, + 51.18996251038981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1221.833579859547, + -483.2791011383115, + 51.18996251038981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1218.833579859547, + -483.2791011383115, + 51.18996251038981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1215.833579859547, + -483.2791011383115, + 51.18996251038981 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1215.833579859547, + -483.2791011383115, + 51.18996251038981 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1213.2355036481936, + -484.7791011383115, + 51.18996251038981 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1210.6374274368402, + -486.2791011383115, + 51.18996251038981 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1208.0393512254868, + -487.7791011383115, + 51.18996251038981 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1205.4412750141335, + -489.2791011383115, + 51.18996251038981 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1202.84319880278, + -490.7791011383115, + 51.18996251038981 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1200.2451225914267, + -492.2791011383115, + 51.18996251038981 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1197.6470463800733, + -493.7791011383115, + 51.18996251038981 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1195.04897016872, + -495.2791011383115, + 51.18996251038981 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1116.0, + -508.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-32-26_628966950/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-32-26_628966950/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb1089687db171a25f2fb3eb88f59cf77ee673ee --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-32-26_628966950/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 858.8732799591405, + -459.34747053477327, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 860.3732799591405, + -461.9455467461266, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 861.8732799591405, + -464.5436229574799, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 863.3732799591405, + -467.1416991688332, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 864.8732799591405, + -469.73977538018653, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 866.3732799591405, + -472.33785159153985, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 867.8732799591405, + -474.93592780289316, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 869.3732799591405, + -477.5340040142465, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 870.8732799591405, + -480.1320802255998, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 872.3732799591405, + -482.7301564369531, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 873.8732799591405, + -485.3282326483064, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 875.3732799591405, + -487.92630885965974, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 876.8732799591405, + -490.52438507101306, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 878.3732799591405, + -493.1224612823664, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 879.8732799591405, + -495.7205374937197, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 881.3732799591405, + -498.318613705073, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 882.8732799591405, + -500.9166899164263, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 884.3732799591405, + -503.51476612777964, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 885.8732799591405, + -506.11284233913295, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 887.3732799591405, + -508.71091855048627, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 888.8732799591405, + -511.3089947618396, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 890.3732799591405, + -513.907070973193, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 891.8732799591405, + -516.5051471845463, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 893.3732799591405, + -519.1032233958997, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 894.8732799591405, + -521.7012996072531, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 896.3732799591405, + -524.2993758186064, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 897.8732799591405, + -526.8974520299598, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 899.3732799591405, + -529.4955282413132, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 900.8732799591405, + -532.0936044526666, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 902.3732799591405, + -534.6916806640199, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 903.8732799591405, + -537.2897568753733, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 905.3732799591405, + -539.8878330867267, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 906.8732799591405, + -542.4859092980801, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 908.3732799591405, + -545.0839855094334, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 909.8732799591405, + -547.6820617207868, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 911.3732799591405, + -550.2801379321402, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 912.8732799591405, + -552.8782141434936, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 914.3732799591405, + -555.4762903548469, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 915.8732799591405, + -558.0743665662003, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 917.3732799591405, + -560.6724427775537, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 918.8732799591405, + -563.270518988907, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 920.3732799591405, + -565.8685952002604, + 58.66835410972706 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 920.3732799591405, + -565.8685952002604, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 922.9713561704939, + -567.3685952002604, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 925.5694323818473, + -568.8685952002604, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 928.1675085932006, + -570.3685952002604, + 58.66835410972706 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 930.765584804554, + -571.8685952002604, + 58.66835410972706 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 940.0, + -588.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-46-48_217927335/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-46-48_217927335/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b3395ff2ce270ba1ea93fd4a1409ac8869f74314 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_18-46-48_217927335/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -368.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -371.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -374.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -377.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -380.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -383.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -386.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -389.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -392.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -395.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -398.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -401.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -404.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -407.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -410.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -413.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -416.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -419.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -422.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -425.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -428.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -431.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -434.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -437.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -440.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -443.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -446.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -449.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -452.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -455.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -458.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -461.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -464.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -467.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -470.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -473.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -476.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -479.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -479.35276374775447, + 1673.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -481.9508399591078, + 1674.5213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -484.5489161704611, + 1676.0213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -487.1469923818144, + 1677.5213128046307, + 65.10108811295432 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -489.74506859316773, + 1679.0213128046307, + 65.10108811295432 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -520.0, + 1680.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-33-45_1907895021/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-33-45_1907895021/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..72af90a31be00d53cd5da5d7aefc727d2ba061a8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-33-45_1907895021/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1232.4313645673274, + 740.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1232.4313645673274, + 737.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1232.4313645673274, + 734.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1232.4313645673274, + 731.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1232.4313645673274, + 728.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1232.4313645673274, + 725.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1232.4313645673274, + 722.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1232.4313645673274, + 719.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1232.4313645673274, + 716.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1232.4313645673274, + 713.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1232.4313645673274, + 710.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1232.4313645673274, + 707.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1232.4313645673274, + 704.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1232.4313645673274, + 701.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1232.4313645673274, + 698.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1232.4313645673274, + 695.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1232.4313645673274, + 692.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1232.4313645673274, + 689.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1232.4313645673274, + 686.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1232.4313645673274, + 683.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1232.4313645673274, + 680.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1232.4313645673274, + 677.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1232.4313645673274, + 674.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1232.4313645673274, + 671.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1232.4313645673274, + 668.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1232.4313645673274, + 665.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1232.4313645673274, + 662.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1232.4313645673274, + 659.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1232.4313645673274, + 656.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1232.4313645673274, + 653.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1232.4313645673274, + 650.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1232.4313645673274, + 647.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1232.4313645673274, + 644.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1232.4313645673274, + 641.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1232.4313645673274, + 638.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1232.4313645673274, + 635.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1232.4313645673274, + 632.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1232.4313645673274, + 629.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1232.4313645673274, + 626.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1232.4313645673274, + 623.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1232.4313645673274, + 620.4507202209157, + 41.42062946379295 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1232.4313645673274, + 617.4507202209157, + 41.42062946379295 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1232.0, + 584.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-40-22_1204754116/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-40-22_1204754116/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dae8dd5e8b252430c221952cf10b0d25fd06f14f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-40-22_1204754116/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -962.9401239624822, + 1791.4805491431748, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -964.4401239624822, + 1788.8824729318214, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -965.9401239624822, + 1786.284396720468, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -967.4401239624822, + 1783.6863205091147, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -968.9401239624822, + 1781.0882442977613, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -970.4401239624822, + 1778.490168086408, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -971.9401239624822, + 1775.8920918750546, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -973.4401239624822, + 1773.2940156637012, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -974.9401239624822, + 1770.6959394523478, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -976.4401239624822, + 1768.0978632409945, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -977.9401239624822, + 1765.499787029641, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -979.4401239624822, + 1762.9017108182877, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -980.9401239624822, + 1760.3036346069343, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -982.4401239624822, + 1757.705558395581, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -983.9401239624822, + 1755.1074821842276, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -985.4401239624822, + 1752.5094059728742, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -986.9401239624822, + 1749.9113297615208, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -988.4401239624822, + 1747.3132535501675, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -989.9401239624822, + 1744.715177338814, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -991.4401239624822, + 1742.1171011274607, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -992.9401239624822, + 1739.5190249161074, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -994.4401239624822, + 1736.920948704754, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -995.9401239624822, + 1734.3228724934006, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -997.4401239624822, + 1731.7247962820472, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -998.9401239624822, + 1729.1267200706939, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1000.4401239624822, + 1726.5286438593405, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1001.9401239624822, + 1723.9305676479871, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1003.4401239624822, + 1721.3324914366337, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1004.9401239624822, + 1718.7344152252804, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1006.4401239624822, + 1716.136339013927, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1007.9401239624822, + 1713.5382628025736, + 50.012680739075975 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1007.9401239624822, + 1713.5382628025736, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1007.9401239624822, + 1710.5382628025736, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1007.9401239624822, + 1707.5382628025736, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1007.9401239624822, + 1704.5382628025736, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1007.9401239624822, + 1701.5382628025736, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1007.9401239624822, + 1698.5382628025736, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1007.9401239624822, + 1695.5382628025736, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1007.9401239624822, + 1692.5382628025736, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1007.9401239624822, + 1689.5382628025736, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1007.9401239624822, + 1686.5382628025736, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1007.9401239624822, + 1683.5382628025736, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1007.9401239624822, + 1680.5382628025736, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1007.9401239624822, + 1677.5382628025736, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1007.9401239624822, + 1674.5382628025736, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1007.9401239624822, + 1671.5382628025736, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1007.9401239624822, + 1668.5382628025736, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1007.9401239624822, + 1665.5382628025736, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1007.9401239624822, + 1662.5382628025736, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1007.9401239624822, + 1659.5382628025736, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1007.9401239624822, + 1656.5382628025736, + 50.012680739075975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1007.9401239624822, + 1653.5382628025736, + 50.012680739075975 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1016.0, + 1632.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-9-22_271059426/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-9-22_271059426/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da67a24f8354f16ca375d7739d2ff7642edc51a9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_19-9-22_271059426/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1222.5740438726116, + 1200.1554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1225.172120083965, + 1198.6554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1227.7701962953183, + 1197.1554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1230.3682725066717, + 1195.6554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1232.966348718025, + 1194.1554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1235.5644249293784, + 1192.6554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1238.1625011407318, + 1191.1554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1240.7605773520852, + 1189.6554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1243.3586535634386, + 1188.1554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1245.956729774792, + 1186.6554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1248.5548059861453, + 1185.1554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1251.1528821974987, + 1183.6554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1253.750958408852, + 1182.1554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1256.3490346202054, + 1180.6554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1258.9471108315588, + 1179.1554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1261.5451870429122, + 1177.6554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1264.1432632542655, + 1176.1554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1266.741339465619, + 1174.6554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1269.3394156769723, + 1173.1554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1271.9374918883257, + 1171.6554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1274.535568099679, + 1170.1554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1277.1336443110324, + 1168.6554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1279.7317205223858, + 1167.1554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1282.3297967337392, + 1165.6554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1284.9278729450925, + 1164.1554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1287.525949156446, + 1162.6554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1290.1240253677993, + 1161.1554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1292.7221015791526, + 1159.6554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1295.320177790506, + 1158.1554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1297.9182540018594, + 1156.6554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1300.5163302132128, + 1155.1554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1303.1144064245661, + 1153.6554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1305.7124826359195, + 1152.1554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1308.310558847273, + 1150.6554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1310.9086350586263, + 1149.1554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1313.5067112699796, + 1147.6554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1316.104787481333, + 1146.1554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1318.7028636926864, + 1144.6554329329886, + 49.80204601339089 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1318.7028636926864, + 1144.6554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1321.7028636926864, + 1144.6554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1324.7028636926864, + 1144.6554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1327.7028636926864, + 1144.6554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1330.7028636926864, + 1144.6554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1333.7028636926864, + 1144.6554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1336.7028636926864, + 1144.6554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1339.7028636926864, + 1144.6554329329886, + 49.80204601339089 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1342.7028636926864, + 1144.6554329329886, + 49.80204601339089 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1364.0, + 1136.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-28-45_750167716/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-28-45_750167716/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..20e677215516b6359bb5f0d72465c739d65ba95d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-28-45_750167716/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1663.0388986063936, + 367.27094017106106, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1661.5388986063936, + 369.8690163824144, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1660.0388986063936, + 372.4670925937677, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1658.5388986063936, + 375.065168805121, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1657.0388986063936, + 377.6632450164743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1655.5388986063936, + 380.26132122782764, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1654.0388986063936, + 382.85939743918095, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1652.5388986063936, + 385.45747365053427, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1651.0388986063936, + 388.0555498618876, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1649.5388986063936, + 390.6536260732409, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1648.0388986063936, + 393.2517022845942, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1646.5388986063936, + 395.84977849594753, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1645.0388986063936, + 398.44785470730085, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1643.5388986063936, + 401.04593091865416, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1642.0388986063936, + 403.6440071300075, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1640.5388986063936, + 406.2420833413608, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1639.0388986063936, + 408.8401595527141, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1637.5388986063936, + 411.43823576406743, + 48.609716276253856 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1637.5388986063936, + 411.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1637.5388986063936, + 414.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1637.5388986063936, + 417.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1637.5388986063936, + 420.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1637.5388986063936, + 423.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1637.5388986063936, + 426.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1637.5388986063936, + 429.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1637.5388986063936, + 432.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1637.5388986063936, + 435.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1637.5388986063936, + 438.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1637.5388986063936, + 441.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1637.5388986063936, + 444.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1637.5388986063936, + 447.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1637.5388986063936, + 450.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1637.5388986063936, + 453.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1637.5388986063936, + 456.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1637.5388986063936, + 459.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1637.5388986063936, + 462.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1637.5388986063936, + 465.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1637.5388986063936, + 468.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1637.5388986063936, + 471.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1637.5388986063936, + 474.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1637.5388986063936, + 477.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1637.5388986063936, + 480.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1637.5388986063936, + 483.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1637.5388986063936, + 486.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1637.5388986063936, + 489.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1637.5388986063936, + 492.43823576406743, + 48.609716276253856 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1637.5388986063936, + 492.43823576406743, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1639.0388986063936, + 495.03631197542074, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1640.5388986063936, + 497.63438818677406, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1642.0388986063936, + 500.2324643981274, + 48.609716276253856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1643.5388986063936, + 502.8305406094807, + 48.609716276253856 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1640.0, + 524.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-3-34_270754552/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-3-34_270754552/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..12130b8421d1a6d09ec2d75ff88fcd599ae91012 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-3-34_270754552/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1062.861231384952, + 1507.3565133428972, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1064.361231384952, + 1504.7584371315438, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1065.861231384952, + 1502.1603609201904, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1067.361231384952, + 1499.562284708837, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1068.861231384952, + 1496.9642084974837, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1070.361231384952, + 1494.3661322861303, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1071.861231384952, + 1491.768056074777, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1073.361231384952, + 1489.1699798634236, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1074.861231384952, + 1486.5719036520702, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1076.361231384952, + 1483.9738274407168, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1077.861231384952, + 1481.3757512293635, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1079.361231384952, + 1478.77767501801, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1080.861231384952, + 1476.1795988066567, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1082.361231384952, + 1473.5815225953033, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1083.861231384952, + 1470.98344638395, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1085.361231384952, + 1468.3853701725966, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1086.861231384952, + 1465.7872939612432, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1088.361231384952, + 1463.1892177498898, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1089.861231384952, + 1460.5911415385365, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1091.361231384952, + 1457.993065327183, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1092.861231384952, + 1455.3949891158297, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1094.361231384952, + 1452.7969129044764, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1095.861231384952, + 1450.198836693123, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1097.361231384952, + 1447.6007604817696, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1098.861231384952, + 1445.0026842704162, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1100.361231384952, + 1442.4046080590629, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1101.861231384952, + 1439.8065318477095, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1103.361231384952, + 1437.2084556363561, + 67.89890893106207 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1103.361231384952, + 1437.2084556363561, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1105.9593075963053, + 1435.7084556363561, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1108.5573838076587, + 1434.2084556363561, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1111.155460019012, + 1432.7084556363561, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1113.7535362303654, + 1431.2084556363561, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1116.3516124417188, + 1429.7084556363561, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1118.9496886530721, + 1428.2084556363561, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1121.5477648644255, + 1426.7084556363561, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1124.145841075779, + 1425.2084556363561, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1126.7439172871323, + 1423.7084556363561, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1129.3419934984856, + 1422.2084556363561, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1131.940069709839, + 1420.7084556363561, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1134.5381459211924, + 1419.2084556363561, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1137.1362221325458, + 1417.7084556363561, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1139.7342983438991, + 1416.2084556363561, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1142.3323745552525, + 1414.7084556363561, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1144.9304507666059, + 1413.2084556363561, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1147.5285269779592, + 1411.7084556363561, + 67.89890893106207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1150.1266031893126, + 1410.2084556363561, + 67.89890893106207 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1164.0, + 1396.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-41-33_1866355856/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-41-33_1866355856/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8ddf194a86dd0c2aba4b1c60d3ff8bfcc0622e35 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_20-41-33_1866355856/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1018.9999708304358, + -633.8530066102845, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1020.4999708304358, + -631.2549303989313, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1021.9999708304358, + -628.6568541875779, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1023.4999708304358, + -626.0587779762245, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1024.9999708304358, + -623.4607017648711, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1026.4999708304358, + -620.8626255535178, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1027.9999708304358, + -618.2645493421644, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1029.4999708304358, + -615.666473130811, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1030.9999708304358, + -613.0683969194577, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1032.4999708304358, + -610.4703207081043, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1033.9999708304358, + -607.8722444967509, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1035.4999708304358, + -605.2741682853975, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1036.9999708304358, + -602.6760920740442, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1038.4999708304358, + -600.0780158626908, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1039.9999708304358, + -597.4799396513374, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1041.4999708304358, + -594.881863439984, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1042.9999708304358, + -592.2837872286307, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1044.4999708304358, + -589.6857110172773, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1045.9999708304358, + -587.0876348059239, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1047.4999708304358, + -584.4895585945706, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1048.9999708304358, + -581.8914823832172, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1050.4999708304358, + -579.2934061718638, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1051.9999708304358, + -576.6953299605104, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1053.4999708304358, + -574.0972537491571, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1054.9999708304358, + -571.4991775378037, + 61.232162602567385 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1054.9999708304358, + -571.4991775378037, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1057.5980470417892, + -569.9991775378037, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1060.1961232531426, + -568.4991775378037, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1062.794199464496, + -566.9991775378037, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1065.3922756758493, + -565.4991775378037, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1067.9903518872027, + -563.9991775378037, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1070.588428098556, + -562.4991775378037, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1073.1865043099094, + -560.9991775378037, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1075.7845805212628, + -559.4991775378037, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1078.3826567326162, + -557.9991775378037, + 61.232162602567385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1080.9807329439695, + -556.4991775378037, + 61.232162602567385 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1116.0, + -508.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_21-19-6_1987235624/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_21-19-6_1987235624/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67e671704ef4d19728ee0636932b5d31e6192e47 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_21-19-6_1987235624/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1483.982776757401, + -635.8139588504282, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1485.482776757401, + -633.2158826390748, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1486.982776757401, + -630.6178064277215, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1488.482776757401, + -628.0197302163681, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1489.982776757401, + -625.4216540050147, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1491.482776757401, + -622.8235777936613, + 65.04284222663313 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1491.482776757401, + -622.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1491.482776757401, + -619.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1491.482776757401, + -616.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1491.482776757401, + -613.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1491.482776757401, + -610.8235777936613, + 65.04284222663313 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1491.482776757401, + -610.8235777936613, + 65.04284222663313 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1491.482776757401, + -610.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1494.0808529687545, + -609.3235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1496.6789291801078, + -607.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1499.2770053914612, + -606.3235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1501.8750816028146, + -604.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1504.473157814168, + -603.3235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1507.0712340255213, + -601.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1509.6693102368747, + -600.3235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1512.267386448228, + -598.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1514.8654626595815, + -597.3235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1517.4635388709348, + -595.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1520.0616150822882, + -594.3235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1522.6596912936416, + -592.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1525.257767504995, + -591.3235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1527.8558437163483, + -589.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1530.4539199277017, + -588.3235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1533.051996139055, + -586.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1535.6500723504084, + -585.3235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1538.2481485617618, + -583.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1540.8462247731152, + -582.3235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1543.4443009844686, + -580.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1546.042377195822, + -579.3235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1548.6404534071753, + -577.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1551.2385296185287, + -576.3235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1553.836605829882, + -574.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1556.4346820412354, + -573.3235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1559.0327582525888, + -571.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1561.6308344639422, + -570.3235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1564.2289106752955, + -568.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1566.826986886649, + -567.3235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1569.4250630980023, + -565.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1572.0231393093557, + -564.3235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1574.621215520709, + -562.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1577.2192917320624, + -561.3235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1579.8173679434158, + -559.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1582.4154441547691, + -558.3235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1585.0135203661225, + -556.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1587.611596577476, + -555.3235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1590.2096727888293, + -553.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1592.8077490001826, + -552.3235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1595.405825211536, + -550.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1598.0039014228894, + -549.3235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1600.6019776342428, + -547.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1603.2000538455961, + -546.3235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1605.7981300569495, + -544.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1608.3962062683029, + -543.3235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1610.9942824796562, + -541.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1613.5923586910096, + -540.3235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1616.190434902363, + -538.8235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1618.7885111137164, + -537.3235777936613, + 65.04284222663313 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1621.3865873250697, + -535.8235777936613, + 65.04284222663313 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1628.0, + -528.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_21-24-13_1172063133/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_21-24-13_1172063133/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..704e7df68aec5124ea57bad661ac7943bc8fadd7 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_21-24-13_1172063133/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1081.2593085356684, + -792.1050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1078.661232324315, + -790.6050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1076.0631561129617, + -789.1050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1073.4650799016083, + -787.6050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1070.867003690255, + -786.1050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1068.2689274789016, + -784.6050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1065.6708512675482, + -783.1050529794918, + 50.257585390407016 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1065.6708512675482, + -783.1050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1062.6708512675482, + -783.1050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1059.6708512675482, + -783.1050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1056.6708512675482, + -783.1050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1053.6708512675482, + -783.1050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1050.6708512675482, + -783.1050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1047.6708512675482, + -783.1050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1044.6708512675482, + -783.1050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1041.6708512675482, + -783.1050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1038.6708512675482, + -783.1050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1035.6708512675482, + -783.1050529794918, + 50.257585390407016 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1035.6708512675482, + -783.1050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1033.0727750561948, + -781.6050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1030.4746988448414, + -780.1050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1027.876622633488, + -778.6050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1025.2785464221347, + -777.1050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1022.6804702107813, + -775.6050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1020.082393999428, + -774.1050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1017.4843177880746, + -772.6050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1014.8862415767212, + -771.1050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1012.2881653653678, + -769.6050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1009.6900891540145, + -768.1050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1007.0920129426611, + -766.6050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1004.4939367313077, + -765.1050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1001.8958605199543, + -763.6050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 999.297784308601, + -762.1050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 996.6997080972476, + -760.6050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 994.1016318858942, + -759.1050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 991.5035556745408, + -757.6050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 988.9054794631875, + -756.1050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 986.3074032518341, + -754.6050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 983.7093270404807, + -753.1050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 981.1112508291274, + -751.6050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 978.513174617774, + -750.1050529794918, + 50.257585390407016 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 978.513174617774, + -750.1050529794918, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 977.013174617774, + -747.5069767681384, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 975.513174617774, + -744.908900556785, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 974.013174617774, + -742.3108243454317, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 972.513174617774, + -739.7127481340783, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 971.013174617774, + -737.1146719227249, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 969.513174617774, + -734.5165957113716, + 50.257585390407016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 968.013174617774, + -731.9185195000182, + 50.257585390407016 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 936.0, + -716.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_21-45-17_1600206898/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_21-45-17_1600206898/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2b8928f1223fc0b42eff1eaa169a6527b659dc2e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_21-45-17_1600206898/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -376.40419622794366, + 1772.4505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -379.002272439297, + 1770.9505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -381.6003486506503, + 1769.4505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -384.1984248620036, + 1767.9505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -386.7965010733569, + 1766.4505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -389.39457728471024, + 1764.9505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -391.99265349606355, + 1763.4505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -394.59072970741687, + 1761.9505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -397.1888059187702, + 1760.4505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -399.7868821301235, + 1758.9505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -402.3849583414768, + 1757.4505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -404.98303455283013, + 1755.9505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -407.58111076418345, + 1754.4505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -410.17918697553677, + 1752.9505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -412.7772631868901, + 1751.4505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -415.3753393982434, + 1749.9505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -417.9734156095967, + 1748.4505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -420.57149182095003, + 1746.9505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -423.16956803230335, + 1745.4505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -425.76764424365666, + 1743.9505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -428.36572045501, + 1742.4505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -430.9637966663633, + 1740.9505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -433.5618728777166, + 1739.4505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -436.1599490890699, + 1737.9505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -438.75802530042324, + 1736.4505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -441.35610151177656, + 1734.9505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -443.9541777231299, + 1733.4505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -446.5522539344832, + 1731.9505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -449.1503301458365, + 1730.4505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -451.7484063571898, + 1728.9505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -454.34648256854314, + 1727.4505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -456.94455877989645, + 1725.9505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -459.54263499124977, + 1724.4505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -462.1407112026031, + 1722.9505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -464.7387874139564, + 1721.4505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -467.3368636253097, + 1719.9505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -469.93493983666303, + 1718.4505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -472.53301604801635, + 1716.9505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -475.13109225936967, + 1715.4505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -477.729168470723, + 1713.9505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -480.3272446820763, + 1712.4505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -482.9253208934296, + 1710.9505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -485.52339710478293, + 1709.4505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -488.12147331613625, + 1707.9505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -490.71954952748956, + 1706.4505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -493.3176257388429, + 1704.9505689838393, + 49.60361341999828 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -493.3176257388429, + 1704.9505689838393, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -494.8176257388429, + 1702.352492772486, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -496.3176257388429, + 1699.7544165611325, + 49.60361341999828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -497.8176257388429, + 1697.1563403497792, + 49.60361341999828 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -520.0, + 1680.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_21-55-11_649785905/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_21-55-11_649785905/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e2efd6c719561f6c6f72628470552b45d4d0f3f0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_21-55-11_649785905/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 801.0522627032443, + -1059.4098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 798.454186491891, + -1057.9098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 795.8561102805377, + -1056.4098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 793.2580340691843, + -1054.9098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 790.6599578578309, + -1053.4098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 788.0618816464776, + -1051.9098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 785.4638054351242, + -1050.4098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 782.8657292237708, + -1048.9098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 780.2676530124174, + -1047.4098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 777.6695768010641, + -1045.9098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 775.0715005897107, + -1044.4098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 772.4734243783573, + -1042.9098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 769.875348167004, + -1041.4098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 767.2772719556506, + -1039.9098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 764.6791957442972, + -1038.4098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 762.0811195329438, + -1036.9098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 759.4830433215905, + -1035.4098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 756.8849671102371, + -1033.9098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 754.2868908988837, + -1032.4098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 751.6888146875303, + -1030.9098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 749.090738476177, + -1029.4098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 746.4926622648236, + -1027.9098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 743.8945860534702, + -1026.4098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 741.2965098421168, + -1024.9098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 738.6984336307635, + -1023.4098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 736.1003574194101, + -1021.9098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 733.5022812080567, + -1020.4098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 730.9042049967034, + -1018.9098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 728.30612878535, + -1017.4098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 725.7080525739966, + -1015.9098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 723.1099763626432, + -1014.4098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 720.5119001512899, + -1012.9098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 717.9138239399365, + -1011.4098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 715.3157477285831, + -1009.9098249945166, + 64.94702076311907 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 715.3157477285831, + -1009.9098249945166, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 713.8157477285831, + -1007.3117487831632, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 712.3157477285831, + -1004.7136725718099, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 710.8157477285831, + -1002.1155963604565, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 709.3157477285831, + -999.5175201491031, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 707.8157477285831, + -996.9194439377497, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 706.3157477285831, + -994.3213677263964, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 704.8157477285831, + -991.723291515043, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 703.3157477285831, + -989.1252153036896, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 701.8157477285831, + -986.5271390923363, + 64.94702076311907 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 701.8157477285831, + -986.5271390923363, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 699.2176715172297, + -985.0271390923363, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 696.6195953058764, + -983.5271390923363, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 694.021519094523, + -982.0271390923363, + 64.94702076311907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 691.4234428831696, + -980.5271390923363, + 64.94702076311907 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.0, + -964.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-0-35_692458743/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-0-35_692458743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..541509ae374c5d10f1a63de6da5c251de38cb060 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-0-35_692458743/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1410.3784075603635, + 1323.8806403685364, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1411.8784075603635, + 1321.282564157183, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1413.3784075603635, + 1318.6844879458297, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1414.8784075603635, + 1316.0864117344763, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1416.3784075603635, + 1313.488335523123, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1417.8784075603635, + 1310.8902593117696, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1419.3784075603635, + 1308.2921831004162, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1420.8784075603635, + 1305.6941068890628, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1422.3784075603635, + 1303.0960306777095, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1423.8784075603635, + 1300.497954466356, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1425.3784075603635, + 1297.8998782550027, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1426.8784075603635, + 1295.3018020436493, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1428.3784075603635, + 1292.703725832296, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1429.8784075603635, + 1290.1056496209426, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1431.3784075603635, + 1287.5075734095892, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1432.8784075603635, + 1284.9094971982358, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1434.3784075603635, + 1282.3114209868825, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1435.8784075603635, + 1279.713344775529, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1437.3784075603635, + 1277.1152685641757, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1438.8784075603635, + 1274.5171923528223, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1440.3784075603635, + 1271.919116141469, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1441.8784075603635, + 1269.3210399301156, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1443.3784075603635, + 1266.7229637187622, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1444.8784075603635, + 1264.1248875074089, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1446.3784075603635, + 1261.5268112960555, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1447.8784075603635, + 1258.928735084702, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1449.3784075603635, + 1256.3306588733487, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1450.8784075603635, + 1253.7325826619954, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1452.3784075603635, + 1251.134506450642, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1453.8784075603635, + 1248.5364302392886, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1455.3784075603635, + 1245.9383540279352, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1456.8784075603635, + 1243.3402778165819, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1458.3784075603635, + 1240.7422016052285, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1459.8784075603635, + 1238.1441253938751, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1461.3784075603635, + 1235.5460491825218, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1462.8784075603635, + 1232.9479729711684, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1464.3784075603635, + 1230.349896759815, + 64.9271359697996 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1464.3784075603635, + 1230.349896759815, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1466.9764837717169, + 1228.849896759815, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1469.5745599830702, + 1227.349896759815, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1472.1726361944236, + 1225.849896759815, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1474.770712405777, + 1224.349896759815, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1477.3687886171303, + 1222.849896759815, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1479.9668648284837, + 1221.349896759815, + 64.9271359697996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1482.564941039837, + 1219.849896759815, + 64.9271359697996 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1508.0, + 1184.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-11-32_1698487330/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-11-32_1698487330/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b4e14328f1906d5c455c61a8247ee1de5cebfed3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-11-32_1698487330/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1208.4898387574146, + 548.5439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1211.087914968768, + 547.0439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1213.6859911801214, + 545.5439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1216.2840673914748, + 544.0439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1218.8821436028281, + 542.5439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1221.4802198141815, + 541.0439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1224.0782960255349, + 539.5439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1226.6763722368883, + 538.0439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1229.2744484482416, + 536.5439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1231.872524659595, + 535.0439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1234.4706008709484, + 533.5439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1237.0686770823017, + 532.0439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1239.6667532936551, + 530.5439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1242.2648295050085, + 529.0439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1244.8629057163619, + 527.5439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1247.4609819277152, + 526.0439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1250.0590581390686, + 524.5439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1252.657134350422, + 523.0439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1255.2552105617754, + 521.5439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1257.8532867731287, + 520.0439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1260.451362984482, + 518.5439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1263.0494391958355, + 517.0439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1265.6475154071888, + 515.5439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1268.2455916185422, + 514.0439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1270.8436678298956, + 512.5439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1273.441744041249, + 511.0439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1276.0398202526023, + 509.5439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1278.6378964639557, + 508.0439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1281.235972675309, + 506.5439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1283.8340488866625, + 505.0439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1286.4321250980158, + 503.5439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1289.0302013093692, + 502.0439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1291.6282775207226, + 500.5439877783922, + 47.201746818284036 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1291.6282775207226, + 500.5439877783922, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1293.1282775207226, + 497.9459115670389, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1294.6282775207226, + 495.34783535568556, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1296.1282775207226, + 492.74975914433224, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1297.6282775207226, + 490.15168293297893, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1299.1282775207226, + 487.5536067216256, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1300.6282775207226, + 484.9555305102723, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1302.1282775207226, + 482.357454298919, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1303.6282775207226, + 479.75937808756566, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1305.1282775207226, + 477.16130187621235, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1306.6282775207226, + 474.56322566485903, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1308.1282775207226, + 471.9651494535057, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1309.6282775207226, + 469.3670732421524, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1311.1282775207226, + 466.7689970307991, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1312.6282775207226, + 464.17092081944577, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1314.1282775207226, + 461.57284460809245, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1315.6282775207226, + 458.97476839673914, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1317.1282775207226, + 456.3766921853858, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1318.6282775207226, + 453.7786159740325, + 47.201746818284036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1320.1282775207226, + 451.1805397626792, + 47.201746818284036 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1344.0, + 432.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-3-43_2042010569/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-3-43_2042010569/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2db1d2ab0d349853145a4eda7b9883f3e0aa5ef8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-3-43_2042010569/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -251.62979226341798, + 327.7531567966986, + 65.76262829481458 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -254.62979226341798, + 327.7531567966986, + 65.76262829481458 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -257.629792263418, + 327.7531567966986, + 65.76262829481458 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -260.629792263418, + 327.7531567966986, + 65.76262829481458 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -263.629792263418, + 327.7531567966986, + 65.76262829481458 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -266.629792263418, + 327.7531567966986, + 65.76262829481458 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -269.629792263418, + 327.7531567966986, + 65.76262829481458 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -272.629792263418, + 327.7531567966986, + 65.76262829481458 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -275.629792263418, + 327.7531567966986, + 65.76262829481458 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -278.629792263418, + 327.7531567966986, + 65.76262829481458 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -281.629792263418, + 327.7531567966986, + 65.76262829481458 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -284.629792263418, + 327.7531567966986, + 65.76262829481458 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -287.629792263418, + 327.7531567966986, + 65.76262829481458 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -404.0, + 324.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-43-23_1651675551/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-43-23_1651675551/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..09a45855c9f0702926edcd23dc078476d6b2eeba --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-43-23_1651675551/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -829.1780323285802, + -643.8464896496444, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -830.6780323285802, + -646.4445658609977, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -832.1780323285802, + -649.0426420723511, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -833.6780323285802, + -651.6407182837045, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -835.1780323285802, + -654.2387944950578, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -836.6780323285802, + -656.8368707064112, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -838.1780323285802, + -659.4349469177646, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -839.6780323285802, + -662.033023129118, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -841.1780323285802, + -664.6310993404713, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -842.6780323285802, + -667.2291755518247, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -844.1780323285802, + -669.8272517631781, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -845.6780323285802, + -672.4253279745315, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -847.1780323285802, + -675.0234041858848, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -848.6780323285802, + -677.6214803972382, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -850.1780323285802, + -680.2195566085916, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -851.6780323285802, + -682.817632819945, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -853.1780323285802, + -685.4157090312983, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -854.6780323285802, + -688.0137852426517, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -856.1780323285802, + -690.6118614540051, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -857.6780323285802, + -693.2099376653584, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -859.1780323285802, + -695.8080138767118, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -860.6780323285802, + -698.4060900880652, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -862.1780323285802, + -701.0041662994186, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -863.6780323285802, + -703.6022425107719, + 65.9422275261733 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -863.6780323285802, + -703.6022425107719, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -863.6780323285802, + -706.6022425107719, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -863.6780323285802, + -709.6022425107719, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -863.6780323285802, + -712.6022425107719, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -863.6780323285802, + -715.6022425107719, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -863.6780323285802, + -718.6022425107719, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -863.6780323285802, + -721.6022425107719, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -863.6780323285802, + -724.6022425107719, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -863.6780323285802, + -727.6022425107719, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -863.6780323285802, + -730.6022425107719, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -863.6780323285802, + -733.6022425107719, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -863.6780323285802, + -736.6022425107719, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -863.6780323285802, + -739.6022425107719, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -863.6780323285802, + -742.6022425107719, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -863.6780323285802, + -745.6022425107719, + 65.9422275261733 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -863.6780323285802, + -748.6022425107719, + 65.9422275261733 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -880.0, + -792.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-47-31_76277107/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-47-31_76277107/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2b86938514c5f5fcb8633fd76f123226949d8f0e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-47-31_76277107/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1747.2120737608614, + 1304.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1747.2120737608614, + 1307.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1747.2120737608614, + 1310.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1747.2120737608614, + 1313.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1747.2120737608614, + 1316.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1747.2120737608614, + 1319.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1747.2120737608614, + 1322.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1747.2120737608614, + 1325.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1747.2120737608614, + 1328.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1747.2120737608614, + 1331.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1747.2120737608614, + 1334.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1747.2120737608614, + 1337.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1747.2120737608614, + 1340.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1747.2120737608614, + 1343.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1747.2120737608614, + 1346.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1747.2120737608614, + 1349.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1747.2120737608614, + 1352.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1747.2120737608614, + 1355.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1747.2120737608614, + 1358.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1747.2120737608614, + 1361.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1747.2120737608614, + 1364.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1747.2120737608614, + 1367.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1747.2120737608614, + 1370.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1747.2120737608614, + 1373.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1747.2120737608614, + 1376.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1747.2120737608614, + 1379.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1747.2120737608614, + 1382.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1747.2120737608614, + 1385.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1747.2120737608614, + 1388.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1747.2120737608614, + 1391.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1747.2120737608614, + 1394.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1747.2120737608614, + 1397.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1747.2120737608614, + 1400.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1747.2120737608614, + 1403.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1747.2120737608614, + 1406.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1747.2120737608614, + 1409.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1747.2120737608614, + 1412.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1747.2120737608614, + 1415.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1747.2120737608614, + 1418.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1747.2120737608614, + 1421.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1747.2120737608614, + 1424.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1747.2120737608614, + 1427.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1747.2120737608614, + 1430.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1747.2120737608614, + 1433.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1747.2120737608614, + 1436.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1747.2120737608614, + 1439.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1747.2120737608614, + 1442.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1747.2120737608614, + 1445.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1747.2120737608614, + 1448.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1747.2120737608614, + 1451.049172164492, + 44.24043712327791 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1747.2120737608614, + 1454.049172164492, + 44.24043712327791 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1744.0, + 1484.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-57-59_551201745/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-57-59_551201745/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a955cbc79e4f3b598381c9fded9e0465cea97a74 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-57-59_551201745/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1270.2591446990084, + -607.9520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1272.8572209103618, + -606.4520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1275.4552971217151, + -604.9520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1278.0533733330685, + -603.4520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1280.651449544422, + -601.9520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1283.2495257557753, + -600.4520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1285.8476019671286, + -598.9520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1288.445678178482, + -597.4520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1291.0437543898354, + -595.9520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1293.6418306011888, + -594.4520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1296.2399068125421, + -592.9520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1298.8379830238955, + -591.4520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1301.4360592352489, + -589.9520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1304.0341354466022, + -588.4520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1306.6322116579556, + -586.9520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1309.230287869309, + -585.4520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1311.8283640806624, + -583.9520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1314.4264402920157, + -582.4520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1317.0245165033691, + -580.9520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1319.6225927147225, + -579.4520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1322.2206689260759, + -577.9520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1324.8187451374292, + -576.4520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1327.4168213487826, + -574.9520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1330.014897560136, + -573.4520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1332.6129737714894, + -571.9520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1335.2110499828427, + -570.4520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1337.809126194196, + -568.9520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1340.4072024055495, + -567.4520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1343.0052786169028, + -565.9520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1345.6033548282562, + -564.4520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1348.2014310396096, + -562.9520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1350.799507250963, + -561.4520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1353.3975834623163, + -559.9520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1355.9956596736697, + -558.4520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1358.593735885023, + -556.9520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1361.1918120963765, + -555.4520264016763, + 46.64529610227078 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1361.1918120963765, + -555.4520264016763, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1362.6918120963765, + -552.8539501903231, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1364.1918120963765, + -550.2558739789697, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1365.6918120963765, + -547.6577977676163, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1367.1918120963765, + -545.059721556263, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1368.6918120963765, + -542.4616453449096, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1370.1918120963765, + -539.8635691335562, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1371.6918120963765, + -537.2654929222028, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1373.1918120963765, + -534.6674167108495, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1374.6918120963765, + -532.0693404994961, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1376.1918120963765, + -529.4712642881427, + 46.64529610227078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1377.6918120963765, + -526.8731880767893, + 46.64529610227078 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1408.0, + -508.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-9-15_1282291499/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-9-15_1282291499/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a81154c743959c735a641e34543ff9d0af67eb87 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_22-9-15_1282291499/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1486.0624944102387, + 405.6931822747648, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1483.4644181988854, + 407.1931822747648, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1480.866341987532, + 408.6931822747648, + 58.04333004971677 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1480.866341987532, + 408.6931822747648, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1479.366341987532, + 411.2912584861181, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1477.866341987532, + 413.88933469747144, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1476.366341987532, + 416.48741090882476, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1474.866341987532, + 419.0854871201781, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1473.366341987532, + 421.6835633315314, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1471.866341987532, + 424.2816395428847, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1470.366341987532, + 426.879715754238, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1468.866341987532, + 429.47779196559134, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1467.366341987532, + 432.07586817694465, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1465.866341987532, + 434.67394438829797, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1464.366341987532, + 437.2720205996513, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1462.866341987532, + 439.8700968110046, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1461.366341987532, + 442.4681730223579, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1459.866341987532, + 445.06624923371123, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1458.366341987532, + 447.66432544506455, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1456.866341987532, + 450.26240165641786, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1455.366341987532, + 452.8604778677712, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1453.866341987532, + 455.4585540791245, + 58.04333004971677 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1453.866341987532, + 455.4585540791245, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1453.866341987532, + 458.4585540791245, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1453.866341987532, + 461.4585540791245, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1453.866341987532, + 464.4585540791245, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1453.866341987532, + 467.4585540791245, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1453.866341987532, + 470.4585540791245, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1453.866341987532, + 473.4585540791245, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1453.866341987532, + 476.4585540791245, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1453.866341987532, + 479.4585540791245, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1453.866341987532, + 482.4585540791245, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1453.866341987532, + 485.4585540791245, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1453.866341987532, + 488.4585540791245, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1453.866341987532, + 491.4585540791245, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1453.866341987532, + 494.4585540791245, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1453.866341987532, + 497.4585540791245, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1453.866341987532, + 500.4585540791245, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1453.866341987532, + 503.4585540791245, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1453.866341987532, + 506.4585540791245, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1453.866341987532, + 509.4585540791245, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1453.866341987532, + 512.4585540791245, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1453.866341987532, + 515.4585540791245, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1453.866341987532, + 518.4585540791245, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1453.866341987532, + 521.4585540791245, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1453.866341987532, + 524.4585540791245, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1453.866341987532, + 527.4585540791245, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1453.866341987532, + 530.4585540791245, + 58.04333004971677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1453.866341987532, + 533.4585540791245, + 58.04333004971677 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.0, + 556.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-21-33_1541417540/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-21-33_1541417540/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..061bdc253dcbd1951a48afb7a75617699bedba2b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-21-33_1541417540/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1719.8903798532801, + 1228.61058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1716.8903798532801, + 1228.61058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1713.8903798532801, + 1228.61058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1710.8903798532801, + 1228.61058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1707.8903798532801, + 1228.61058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1704.8903798532801, + 1228.61058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1701.8903798532801, + 1228.61058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1698.8903798532801, + 1228.61058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1695.8903798532801, + 1228.61058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1692.8903798532801, + 1228.61058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1689.8903798532801, + 1228.61058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1686.8903798532801, + 1228.61058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1683.8903798532801, + 1228.61058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1680.8903798532801, + 1228.61058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1677.8903798532801, + 1228.61058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1674.8903798532801, + 1228.61058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1671.8903798532801, + 1228.61058317952, + 54.25700095901443 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1671.8903798532801, + 1228.61058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1669.2923036419268, + 1227.11058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1666.6942274305734, + 1225.61058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1664.09615121922, + 1224.11058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1661.4980750078666, + 1222.61058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1658.8999987965133, + 1221.11058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1656.30192258516, + 1219.61058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1653.7038463738065, + 1218.11058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1651.1057701624532, + 1216.61058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1648.5076939510998, + 1215.11058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1645.9096177397464, + 1213.61058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1643.311541528393, + 1212.11058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1640.7134653170397, + 1210.61058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1638.1153891056863, + 1209.11058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1635.517312894333, + 1207.61058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1632.9192366829795, + 1206.11058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1630.3211604716262, + 1204.61058317952, + 54.25700095901443 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1630.3211604716262, + 1204.61058317952, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1628.8211604716262, + 1202.0125069681667, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1627.3211604716262, + 1199.4144307568133, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1625.8211604716262, + 1196.81635454546, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1624.3211604716262, + 1194.2182783341066, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1622.8211604716262, + 1191.6202021227532, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1621.3211604716262, + 1189.0221259113998, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1619.8211604716262, + 1186.4240497000465, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1618.3211604716262, + 1183.825973488693, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1616.8211604716262, + 1181.2278972773397, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1615.3211604716262, + 1178.6298210659863, + 54.25700095901443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1613.8211604716262, + 1176.031744854633, + 54.25700095901443 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1580.0, + 1156.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-30-0_44470216/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-30-0_44470216/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..63edeae969177e74aab22a1fe06049c0c555775a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-30-0_44470216/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 180.1520209509568, + -310.1506091281012, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 181.6520209509568, + -307.5525329167479, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 183.1520209509568, + -304.9544567053946, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 184.6520209509568, + -302.3563804940413, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 186.1520209509568, + -299.75830428268796, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 187.6520209509568, + -297.16022807133464, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 189.1520209509568, + -294.5621518599813, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 190.6520209509568, + -291.964075648628, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 192.1520209509568, + -289.3659994372747, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 193.6520209509568, + -286.7679232259214, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 195.1520209509568, + -284.16984701456806, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 196.6520209509568, + -281.57177080321475, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 198.1520209509568, + -278.97369459186143, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 199.6520209509568, + -276.3756183805081, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 201.1520209509568, + -273.7775421691548, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 202.6520209509568, + -271.1794659578015, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 204.1520209509568, + -268.58138974644817, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 205.6520209509568, + -265.98331353509485, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 207.1520209509568, + -263.38523732374153, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 208.6520209509568, + -260.7871611123882, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 210.1520209509568, + -258.1890849010349, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 211.6520209509568, + -255.5910086896816, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 213.1520209509568, + -252.99293247832827, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 214.6520209509568, + -250.39485626697495, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 216.1520209509568, + -247.79678005562164, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 217.6520209509568, + -245.19870384426832, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 219.1520209509568, + -242.600627632915, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 220.6520209509568, + -240.0025514215617, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 222.1520209509568, + -237.40447521020837, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 223.6520209509568, + -234.80639899885506, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 225.1520209509568, + -232.20832278750174, + 56.54384196806756 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 225.1520209509568, + -232.20832278750174, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 225.1520209509568, + -229.20832278750174, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 225.1520209509568, + -226.20832278750174, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 225.1520209509568, + -223.20832278750174, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 225.1520209509568, + -220.20832278750174, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 225.1520209509568, + -217.20832278750174, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 225.1520209509568, + -214.20832278750174, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 225.1520209509568, + -211.20832278750174, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 225.1520209509568, + -208.20832278750174, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 225.1520209509568, + -205.20832278750174, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 225.1520209509568, + -202.20832278750174, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 225.1520209509568, + -199.20832278750174, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 225.1520209509568, + -196.20832278750174, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 225.1520209509568, + -193.20832278750174, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 225.1520209509568, + -190.20832278750174, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 225.1520209509568, + -187.20832278750174, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 225.1520209509568, + -184.20832278750174, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 225.1520209509568, + -181.20832278750174, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 225.1520209509568, + -178.20832278750174, + 56.54384196806756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 225.1520209509568, + -175.20832278750174, + 56.54384196806756 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 232.0, + -152.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-42-27_1281944976/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-42-27_1281944976/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a65d9112abc3c9e01c3b71bb58149d0cd9a0a7cc --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-42-27_1281944976/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1429.4499843924418, + -1072.3084343170215, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1430.9499843924418, + -1069.710358105668, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1432.4499843924418, + -1067.1122818943147, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1433.9499843924418, + -1064.5142056829613, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1435.4499843924418, + -1061.916129471608, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1436.9499843924418, + -1059.3180532602546, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1438.4499843924418, + -1056.7199770489012, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1439.9499843924418, + -1054.1219008375479, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1441.4499843924418, + -1051.5238246261945, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1442.9499843924418, + -1048.925748414841, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1444.4499843924418, + -1046.3276722034877, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1445.9499843924418, + -1043.7295959921344, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1447.4499843924418, + -1041.131519780781, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1448.9499843924418, + -1038.5334435694276, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1450.4499843924418, + -1035.9353673580742, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1451.9499843924418, + -1033.3372911467209, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1453.4499843924418, + -1030.7392149353675, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1454.9499843924418, + -1028.1411387240141, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1456.4499843924418, + -1025.5430625126608, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1457.9499843924418, + -1022.9449863013074, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1459.4499843924418, + -1020.346910089954, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1460.9499843924418, + -1017.7488338786006, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1462.4499843924418, + -1015.1507576672473, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1463.9499843924418, + -1012.5526814558939, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1465.4499843924418, + -1009.9546052445405, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1466.9499843924418, + -1007.3565290331871, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1468.4499843924418, + -1004.7584528218338, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1469.9499843924418, + -1002.1603766104804, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1471.4499843924418, + -999.562300399127, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1472.9499843924418, + -996.9642241877737, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1474.4499843924418, + -994.3661479764203, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1475.9499843924418, + -991.7680717650669, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1477.4499843924418, + -989.1699955537135, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1478.9499843924418, + -986.5719193423602, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1480.4499843924418, + -983.9738431310068, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1481.9499843924418, + -981.3757669196534, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1483.4499843924418, + -978.7776907083, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1484.9499843924418, + -976.1796144969467, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1486.4499843924418, + -973.5815382855933, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1487.9499843924418, + -970.9834620742399, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1489.4499843924418, + -968.3853858628866, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1490.9499843924418, + -965.7873096515332, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1492.4499843924418, + -963.1892334401798, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1493.9499843924418, + -960.5911572288264, + 64.16254170589679 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1493.9499843924418, + -960.5911572288264, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1496.5480606037952, + -959.0911572288264, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1499.1461368151486, + -957.5911572288264, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1501.744213026502, + -956.0911572288264, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1504.3422892378553, + -954.5911572288264, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1506.9403654492087, + -953.0911572288264, + 64.16254170589679 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1509.538441660562, + -951.5911572288264, + 64.16254170589679 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1524.0, + -932.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-45-24_730199492/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-45-24_730199492/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8240f8494c9146d291e8c4b937299a9a16f932e6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-45-24_730199492/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1734.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1731.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1728.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1725.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1722.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1719.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1716.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1713.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1710.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1707.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1704.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1701.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1698.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1695.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1692.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1689.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1686.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1683.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1680.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1677.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1674.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1671.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1668.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1665.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1662.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1659.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1656.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1653.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1650.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1647.3505693469208, + -413.8511197389169, + 58.17996021308973 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1580.0, + -416.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-56-34_234262547/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-56-34_234262547/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..45fb019b3421d01b626d6f38dce45c4c6eab994d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-56-34_234262547/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1157.6667245571248, + -233.3839460144271, + 43.72450114835525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1157.6667245571248, + -236.3839460144271, + 43.72450114835525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1157.6667245571248, + -239.3839460144271, + 43.72450114835525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1157.6667245571248, + -242.3839460144271, + 43.72450114835525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1157.6667245571248, + -245.3839460144271, + 43.72450114835525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1157.6667245571248, + -248.3839460144271, + 43.72450114835525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1157.6667245571248, + -251.3839460144271, + 43.72450114835525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1157.6667245571248, + -254.3839460144271, + 43.72450114835525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1157.6667245571248, + -257.3839460144271, + 43.72450114835525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1157.6667245571248, + -260.3839460144271, + 43.72450114835525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1157.6667245571248, + -263.3839460144271, + 43.72450114835525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1157.6667245571248, + -266.3839460144271, + 43.72450114835525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1157.6667245571248, + -269.3839460144271, + 43.72450114835525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1157.6667245571248, + -272.3839460144271, + 43.72450114835525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1157.6667245571248, + -275.3839460144271, + 43.72450114835525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1157.6667245571248, + -278.3839460144271, + 43.72450114835525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1157.6667245571248, + -281.3839460144271, + 43.72450114835525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1157.6667245571248, + -284.3839460144271, + 43.72450114835525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1157.6667245571248, + -287.3839460144271, + 43.72450114835525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1157.6667245571248, + -290.3839460144271, + 43.72450114835525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1157.6667245571248, + -293.3839460144271, + 43.72450114835525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1157.6667245571248, + -296.3839460144271, + 43.72450114835525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1157.6667245571248, + -299.3839460144271, + 43.72450114835525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1157.6667245571248, + -302.3839460144271, + 43.72450114835525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1157.6667245571248, + -305.3839460144271, + 43.72450114835525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1157.6667245571248, + -305.3839460144271, + 43.72450114835525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1159.1667245571248, + -307.98202222578044, + 43.72450114835525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1160.6667245571248, + -310.58009843713376, + 43.72450114835525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1164.0, + -392.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-6-47_13798878/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-6-47_13798878/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b7e8b31706a5cd1cc7ac4dabc45c35260dbf7057 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-6_23-6-47_13798878/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1667.9039669225979, + -703.0675425591671, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1666.4039669225979, + -705.6656187705205, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1664.9039669225979, + -708.2636949818739, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1663.4039669225979, + -710.8617711932272, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1661.9039669225979, + -713.4598474045806, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1660.4039669225979, + -716.057923615934, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1658.9039669225979, + -718.6559998272874, + 61.06930827707539 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1658.9039669225979, + -718.6559998272874, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1658.9039669225979, + -721.6559998272874, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1658.9039669225979, + -724.6559998272874, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1658.9039669225979, + -727.6559998272874, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1658.9039669225979, + -730.6559998272874, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1658.9039669225979, + -733.6559998272874, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1658.9039669225979, + -736.6559998272874, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1658.9039669225979, + -739.6559998272874, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1658.9039669225979, + -742.6559998272874, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1658.9039669225979, + -745.6559998272874, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1658.9039669225979, + -748.6559998272874, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1658.9039669225979, + -751.6559998272874, + 61.06930827707539 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1658.9039669225979, + -751.6559998272874, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1657.4039669225979, + -754.2540760386407, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1655.9039669225979, + -756.8521522499941, + 61.06930827707539 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1655.9039669225979, + -756.8521522499941, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1653.3058907112445, + -758.3521522499941, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1650.7078144998911, + -759.8521522499941, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1648.1097382885378, + -761.3521522499941, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1645.5116620771844, + -762.8521522499941, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1642.913585865831, + -764.3521522499941, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1640.3155096544776, + -765.8521522499941, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1637.7174334431243, + -767.3521522499941, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1635.119357231771, + -768.8521522499941, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1632.5212810204175, + -770.3521522499941, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1629.9232048090641, + -771.8521522499941, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1627.3251285977108, + -773.3521522499941, + 61.06930827707539 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1627.3251285977108, + -773.3521522499941, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1625.8251285977108, + -775.9502284613475, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1624.3251285977108, + -778.5483046727009, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1622.8251285977108, + -781.1463808840542, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1621.3251285977108, + -783.7444570954076, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1619.8251285977108, + -786.342533306761, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1618.3251285977108, + -788.9406095181143, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1616.8251285977108, + -791.5386857294677, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1615.3251285977108, + -794.1367619408211, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1613.8251285977108, + -796.7348381521745, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1612.3251285977108, + -799.3329143635278, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1610.8251285977108, + -801.9309905748812, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1609.3251285977108, + -804.5290667862346, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1607.8251285977108, + -807.127142997588, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1606.3251285977108, + -809.7252192089413, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1604.8251285977108, + -812.3232954202947, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1603.3251285977108, + -814.9213716316481, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1601.8251285977108, + -817.5194478430014, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1600.3251285977108, + -820.1175240543548, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1598.8251285977108, + -822.7156002657082, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1597.3251285977108, + -825.3136764770616, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1595.8251285977108, + -827.9117526884149, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1594.3251285977108, + -830.5098288997683, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -1592.8251285977108, + -833.1079051111217, + 61.06930827707539 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -1591.3251285977108, + -835.705981322475, + 61.06930827707539 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1584.0, + -848.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-24-1_959162035/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-24-1_959162035/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..abbad8859a89bc8bd55fda8fd40e688bcf5766f8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-24-1_959162035/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 930.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 933.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 936.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 939.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 942.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 945.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 948.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 951.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 954.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 957.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 960.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 963.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 966.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 969.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 972.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 975.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 978.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 981.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 984.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 987.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 990.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 993.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 996.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 999.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1002.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1005.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1008.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1011.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1014.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1017.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1020.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1020.121676327133, + -1041.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1022.7197525384863, + -1042.868663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1025.3178287498397, + -1044.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1027.915904961193, + -1045.868663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1030.5139811725464, + -1047.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1033.1120573838998, + -1048.868663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1035.7101335952532, + -1050.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1038.3082098066066, + -1051.868663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1040.90628601796, + -1053.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1043.5043622293133, + -1054.868663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1046.1024384406667, + -1056.368663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1048.70051465202, + -1057.868663459812, + 45.73557692514863 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1051.2985908633734, + -1059.368663459812, + 45.73557692514863 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1084.0, + -1064.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-44-57_1631596366/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-44-57_1631596366/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..26f541bac21b5cc168a33f69043ba8307436b17f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-44-57_1631596366/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1612.3532649968822, + -1176.9014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1614.9513412082356, + -1178.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1617.549417419589, + -1179.9014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1620.1474936309423, + -1181.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1622.7455698422957, + -1182.9014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1625.343646053649, + -1184.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1627.9417222650025, + -1185.9014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1630.5397984763558, + -1187.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1633.1378746877092, + -1188.9014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1635.7359508990626, + -1190.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1638.334027110416, + -1191.9014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1640.9321033217693, + -1193.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1643.5301795331227, + -1194.9014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1646.128255744476, + -1196.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1648.7263319558294, + -1197.9014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1651.3244081671828, + -1199.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1653.9224843785362, + -1200.9014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1656.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1656.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1659.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1662.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1665.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1668.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1671.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1674.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1677.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1680.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1683.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1686.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1689.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1692.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1695.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1698.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1701.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1704.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1707.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1710.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1713.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1716.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1719.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1722.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1725.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1728.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1728.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1728.5205605898896, + -1202.4014299660269, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1730.0205605898896, + -1199.8033537546735, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1731.5205605898896, + -1197.20527754332, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1733.0205605898896, + -1194.6072013319667, + 50.183955889541245 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1733.0205605898896, + -1194.6072013319667, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1735.618636801243, + -1193.1072013319667, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1738.2167130125963, + -1191.6072013319667, + 50.183955889541245 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1740.8147892239497, + -1190.1072013319667, + 50.183955889541245 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1768.0, + -1192.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-45-32_354367395/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-45-32_354367395/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..99fc4b47ffb0a372c8415ef3f009653aec615c9f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-45-32_354367395/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1638.2235490786932, + 1295.5450751542137, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1636.7235490786932, + 1292.9469989428603, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1635.2235490786932, + 1290.348922731507, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1633.7235490786932, + 1287.7508465201536, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1632.2235490786932, + 1285.1527703088002, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1630.7235490786932, + 1282.5546940974468, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1629.2235490786932, + 1279.9566178860935, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1627.7235490786932, + 1277.35854167474, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1626.2235490786932, + 1274.7604654633867, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1624.7235490786932, + 1272.1623892520333, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1623.2235490786932, + 1269.56431304068, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1621.7235490786932, + 1266.9662368293266, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1620.2235490786932, + 1264.3681606179732, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1618.7235490786932, + 1261.7700844066198, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1617.2235490786932, + 1259.1720081952665, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1615.7235490786932, + 1256.573931983913, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1614.2235490786932, + 1253.9758557725597, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1612.7235490786932, + 1251.3777795612064, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1611.2235490786932, + 1248.779703349853, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1609.7235490786932, + 1246.1816271384996, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1608.2235490786932, + 1243.5835509271462, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1606.7235490786932, + 1240.9854747157929, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1605.2235490786932, + 1238.3873985044395, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1603.7235490786932, + 1235.7893222930861, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1602.2235490786932, + 1233.1912460817327, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1600.7235490786932, + 1230.5931698703794, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1599.2235490786932, + 1227.995093659026, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1597.7235490786932, + 1225.3970174476726, + 56.74182284092383 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1597.7235490786932, + 1225.3970174476726, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1595.1254728673398, + 1223.8970174476726, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1592.5273966559864, + 1222.3970174476726, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1589.929320444633, + 1220.8970174476726, + 56.74182284092383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1587.3312442332797, + 1219.3970174476726, + 56.74182284092383 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1548.0, + 1160.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-7-0_1031207394/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-7-0_1031207394/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a26033315a4f11779e17e76ec0b649e8fd4c6aa5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_0-7-0_1031207394/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -931.1981782969046, + 1329.5670938473565, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -929.6981782969046, + 1332.16517005871, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -928.1981782969046, + 1334.7632462700633, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -926.6981782969046, + 1337.3613224814167, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -925.1981782969046, + 1339.95939869277, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -923.6981782969046, + 1342.5574749041234, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -922.1981782969046, + 1345.1555511154768, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -920.6981782969046, + 1347.7536273268302, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -919.1981782969046, + 1350.3517035381835, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -917.6981782969046, + 1352.949779749537, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -916.1981782969046, + 1355.5478559608903, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -914.6981782969046, + 1358.1459321722436, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -913.1981782969046, + 1360.744008383597, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -911.6981782969046, + 1363.3420845949504, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -910.1981782969046, + 1365.9401608063038, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -908.6981782969046, + 1368.5382370176571, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -907.1981782969046, + 1371.1363132290105, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -905.6981782969046, + 1373.7343894403639, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -904.1981782969046, + 1376.3324656517173, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -902.6981782969046, + 1378.9305418630706, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -901.1981782969046, + 1381.528618074424, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -899.6981782969046, + 1384.1266942857774, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -898.1981782969046, + 1386.7247704971307, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -896.6981782969046, + 1389.3228467084841, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -895.1981782969046, + 1391.9209229198375, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -893.6981782969046, + 1394.5189991311909, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -892.1981782969046, + 1397.1170753425442, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -890.6981782969046, + 1399.7151515538976, + 52.237947302277874 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -890.6981782969046, + 1399.7151515538976, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -890.6981782969046, + 1402.7151515538976, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -890.6981782969046, + 1405.7151515538976, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -890.6981782969046, + 1408.7151515538976, + 52.237947302277874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -890.6981782969046, + 1411.7151515538976, + 52.237947302277874 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -860.0, + 1468.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-0-51_1597848432/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-0-51_1597848432/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da5b772b1938f42b719ff02527f236f285ccc25c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-0-51_1597848432/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1354.889082017565, + -704.0791497728545, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1353.389082017565, + -706.6772259842078, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1351.889082017565, + -709.2753021955612, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1350.389082017565, + -711.8733784069145, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1348.889082017565, + -714.4714546182679, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1347.389082017565, + -717.0695308296213, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1345.889082017565, + -719.6676070409746, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1344.389082017565, + -722.265683252328, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1342.889082017565, + -724.8637594636814, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1341.389082017565, + -727.4618356750348, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1339.889082017565, + -730.0599118863881, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1338.389082017565, + -732.6579880977415, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1336.889082017565, + -735.2560643090949, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1335.389082017565, + -737.8541405204483, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1333.889082017565, + -740.4522167318016, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1332.389082017565, + -743.050292943155, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1330.889082017565, + -745.6483691545084, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1329.389082017565, + -748.2464453658617, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1327.889082017565, + -750.8445215772151, + 52.6687233390577 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1327.889082017565, + -750.8445215772151, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1325.2910058062116, + -752.3445215772151, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1322.6929295948582, + -753.8445215772151, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1320.0948533835049, + -755.3445215772151, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1317.4967771721515, + -756.8445215772151, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1314.8987009607981, + -758.3445215772151, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1312.3006247494448, + -759.8445215772151, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1309.7025485380914, + -761.3445215772151, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1307.104472326738, + -762.8445215772151, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1304.5063961153846, + -764.3445215772151, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1301.9083199040313, + -765.8445215772151, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1299.3102436926779, + -767.3445215772151, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1296.7121674813245, + -768.8445215772151, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1294.1140912699711, + -770.3445215772151, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1291.5160150586178, + -771.8445215772151, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1288.9179388472644, + -773.3445215772151, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1286.319862635911, + -774.8445215772151, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1283.7217864245576, + -776.3445215772151, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1281.1237102132043, + -777.8445215772151, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1278.525634001851, + -779.3445215772151, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1275.9275577904975, + -780.8445215772151, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1273.3294815791442, + -782.3445215772151, + 52.6687233390577 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1273.3294815791442, + -782.3445215772151, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1271.8294815791442, + -784.9425977885685, + 52.6687233390577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1270.3294815791442, + -787.5406739999219, + 52.6687233390577 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1244.0, + -816.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-16-29_918483162/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-16-29_918483162/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5af991fb60dceda9517f32182e6b6e0c72191285 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-16-29_918483162/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -383.33035577105494, + 1702.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -380.33035577105494, + 1702.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -377.33035577105494, + 1702.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -374.33035577105494, + 1702.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -371.33035577105494, + 1702.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -368.33035577105494, + 1702.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -365.33035577105494, + 1702.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -362.33035577105494, + 1702.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -359.33035577105494, + 1702.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -356.33035577105494, + 1702.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -353.33035577105494, + 1702.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -350.33035577105494, + 1702.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -347.33035577105494, + 1702.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -344.33035577105494, + 1702.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -341.33035577105494, + 1702.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -338.33035577105494, + 1702.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -335.33035577105494, + 1702.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -332.33035577105494, + 1702.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -329.33035577105494, + 1702.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -326.33035577105494, + 1702.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -323.33035577105494, + 1702.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -320.33035577105494, + 1702.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -317.33035577105494, + 1702.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -314.33035577105494, + 1702.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -311.33035577105494, + 1702.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -308.33035577105494, + 1702.774959161186, + 42.32327819137407 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -308.33035577105494, + 1702.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -305.7322795597016, + 1701.274959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -303.1342033483483, + 1699.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -300.536127136995, + 1698.274959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -297.9380509256417, + 1696.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -295.33997471428836, + 1695.274959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -292.74189850293504, + 1693.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -290.1438222915817, + 1692.274959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -287.5457460802284, + 1690.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -284.9476698688751, + 1689.274959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -282.3495936575218, + 1687.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -279.75151744616846, + 1686.274959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -277.15344123481515, + 1684.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -274.55536502346183, + 1683.274959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -271.9572888121085, + 1681.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -269.3592126007552, + 1680.274959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -266.7611363894019, + 1678.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -264.16306017804857, + 1677.274959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -261.56498396669525, + 1675.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -258.96690775534194, + 1674.274959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -256.3688315439886, + 1672.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -253.7707553326353, + 1671.274959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -251.172679121282, + 1669.774959161186, + 42.32327819137407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -248.57460290992867, + 1668.274959161186, + 42.32327819137407 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -224.0, + 1660.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-38-31_217852623/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-38-31_217852623/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..03bec090107485be4420994a8d15692358fb46e1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_1-38-31_217852623/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 641.1214953587861, + 1086.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 641.1214953587861, + 1083.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 641.1214953587861, + 1080.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 641.1214953587861, + 1077.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 641.1214953587861, + 1074.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 641.1214953587861, + 1071.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 641.1214953587861, + 1068.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 641.1214953587861, + 1065.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 641.1214953587861, + 1062.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 641.1214953587861, + 1059.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 641.1214953587861, + 1056.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 641.1214953587861, + 1053.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 641.1214953587861, + 1050.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 641.1214953587861, + 1047.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 641.1214953587861, + 1044.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 641.1214953587861, + 1041.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 641.1214953587861, + 1038.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 641.1214953587861, + 1035.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 641.1214953587861, + 1032.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 641.1214953587861, + 1029.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 641.1214953587861, + 1026.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 641.1214953587861, + 1023.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 641.1214953587861, + 1020.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 641.1214953587861, + 1017.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 641.1214953587861, + 1014.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 641.1214953587861, + 1011.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 641.1214953587861, + 1008.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 641.1214953587861, + 1005.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 641.1214953587861, + 1002.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 641.1214953587861, + 999.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 641.1214953587861, + 996.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 641.1214953587861, + 993.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 641.1214953587861, + 990.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 641.1214953587861, + 987.3765126210315, + 44.660903401846156 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 641.1214953587861, + 987.3765126210315, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 642.6214953587861, + 984.7784364096781, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 644.1214953587861, + 982.1803601983247, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 645.6214953587861, + 979.5822839869713, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 647.1214953587861, + 976.984207775618, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 648.6214953587861, + 974.3861315642646, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 650.1214953587861, + 971.7880553529112, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 651.6214953587861, + 969.1899791415578, + 44.660903401846156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 653.1214953587861, + 966.5919029302045, + 44.660903401846156 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 656.0, + 936.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-6-31_263707074/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-6-31_263707074/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..22c02124f019e5052cb17dd7dad9a6912204785f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-6-31_263707074/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1393.4202631217574, + -672.5443557703727, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1390.822186910404, + -674.0443557703727, + 69.17785420094215 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1390.822186910404, + -674.0443557703727, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1389.322186910404, + -676.6424319817261, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1387.822186910404, + -679.2405081930794, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1386.322186910404, + -681.8385844044328, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1384.822186910404, + -684.4366606157862, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1383.322186910404, + -687.0347368271396, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1381.822186910404, + -689.6328130384929, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1380.322186910404, + -692.2308892498463, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1378.822186910404, + -694.8289654611997, + 69.17785420094215 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1378.822186910404, + -694.8289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1376.2241106990507, + -696.3289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1373.6260344876973, + -697.8289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1371.027958276344, + -699.3289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1368.4298820649906, + -700.8289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1365.8318058536372, + -702.3289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1363.2337296422838, + -703.8289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1360.6356534309305, + -705.3289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1358.037577219577, + -706.8289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1355.4395010082237, + -708.3289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1352.8414247968703, + -709.8289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1350.243348585517, + -711.3289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1347.6452723741636, + -712.8289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1345.0471961628102, + -714.3289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1342.4491199514569, + -715.8289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1339.8510437401035, + -717.3289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1337.25296752875, + -718.8289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1334.6548913173967, + -720.3289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1332.0568151060434, + -721.8289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1329.45873889469, + -723.3289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1326.8606626833366, + -724.8289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1324.2625864719832, + -726.3289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1321.6645102606299, + -727.8289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1319.0664340492765, + -729.3289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1316.4683578379231, + -730.8289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1313.8702816265697, + -732.3289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1311.2722054152164, + -733.8289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1308.674129203863, + -735.3289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1306.0760529925096, + -736.8289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1303.4779767811563, + -738.3289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1300.8799005698029, + -739.8289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1298.2818243584495, + -741.3289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1295.6837481470961, + -742.8289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1293.0856719357428, + -744.3289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1290.4875957243894, + -745.8289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1287.889519513036, + -747.3289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1285.2914433016826, + -748.8289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1282.6933670903293, + -750.3289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1280.095290878976, + -751.8289654611997, + 69.17785420094215 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1277.4972146676225, + -753.3289654611997, + 69.17785420094215 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1256.0, + -768.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-7-23_967108342/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-7-23_967108342/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..980764bea6ffb409cdb4cea29a37b0111b24fe01 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_10-7-23_967108342/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1785.0368561736573, + 205.8134334098321, + 42.69954034803396 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1787.6349323850106, + 204.3134334098321, + 42.69954034803396 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1790.233008596364, + 202.8134334098321, + 42.69954034803396 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1792.8310848077174, + 201.3134334098321, + 42.69954034803396 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1928.0, + 100.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-0-24_689155066/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-0-24_689155066/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cf5522e8fd764b61543ddce21a00f562dcb818c7 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-0-24_689155066/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1388.4896671131864, + -1271.278020973255, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1389.9896671131864, + -1268.6799447619017, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1391.4896671131864, + -1266.0818685505483, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1392.9896671131864, + -1263.483792339195, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1394.4896671131864, + -1260.8857161278415, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1395.9896671131864, + -1258.2876399164882, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1397.4896671131864, + -1255.6895637051348, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1398.9896671131864, + -1253.0914874937814, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1400.4896671131864, + -1250.493411282428, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1401.9896671131864, + -1247.8953350710747, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1403.4896671131864, + -1245.2972588597213, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1404.9896671131864, + -1242.699182648368, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1406.4896671131864, + -1240.1011064370146, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1407.9896671131864, + -1237.5030302256612, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1409.4896671131864, + -1234.9049540143078, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1410.9896671131864, + -1232.3068778029544, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1412.4896671131864, + -1229.708801591601, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1413.9896671131864, + -1227.1107253802477, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1415.4896671131864, + -1224.5126491688943, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1416.9896671131864, + -1221.914572957541, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1418.4896671131864, + -1219.3164967461876, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1419.9896671131864, + -1216.7184205348342, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1421.4896671131864, + -1214.1203443234808, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1422.9896671131864, + -1211.5222681121274, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1424.4896671131864, + -1208.924191900774, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1425.9896671131864, + -1206.3261156894207, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1427.4896671131864, + -1203.7280394780673, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1428.9896671131864, + -1201.129963266714, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1430.4896671131864, + -1198.5318870553606, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1431.9896671131864, + -1195.9338108440072, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1433.4896671131864, + -1193.3357346326538, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1434.9896671131864, + -1190.7376584213005, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1436.4896671131864, + -1188.139582209947, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1437.9896671131864, + -1185.5415059985937, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1439.4896671131864, + -1182.9434297872403, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1440.9896671131864, + -1180.345353575887, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1442.4896671131864, + -1177.7472773645336, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1443.9896671131864, + -1175.1492011531802, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1445.4896671131864, + -1172.5511249418269, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1446.9896671131864, + -1169.9530487304735, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1448.4896671131864, + -1167.35497251912, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1449.9896671131864, + -1164.7568963077667, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1451.4896671131864, + -1162.1588200964134, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1452.9896671131864, + -1159.56074388506, + 57.56840504513491 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1452.9896671131864, + -1159.56074388506, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1455.5877433245398, + -1158.06074388506, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1458.1858195358932, + -1156.56074388506, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1460.7838957472466, + -1155.06074388506, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1463.3819719586, + -1153.56074388506, + 57.56840504513491 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1465.9800481699533, + -1152.06074388506, + 57.56840504513491 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1484.0, + -1128.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-24-18_399403847/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-24-18_399403847/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..056b1ebe295a2f336dce51ff6c32cb1ed6903b72 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-24-18_399403847/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1616.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1619.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1622.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1625.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1628.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1631.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1634.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1637.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1640.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1643.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1646.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1649.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1652.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1655.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1658.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1661.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1664.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1667.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1670.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1673.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1676.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1679.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1682.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1685.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1688.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1691.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1694.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1697.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1700.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1703.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1706.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1709.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1712.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1715.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1718.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1721.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1724.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1727.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1730.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1733.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1736.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1739.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1742.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1742.2627183944828, + -768.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1744.8607946058362, + -766.629353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1747.4588708171896, + -765.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1750.056947028543, + -763.629353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1752.6550232398963, + -762.129353768816, + 48.17484311225377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1755.2530994512497, + -760.629353768816, + 48.17484311225377 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1780.0, + -760.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-25-29_372758355/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-25-29_372758355/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4d84f7d4270f895ddf020cd3d3236c7a0736bf04 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-25-29_372758355/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 918.8332850753976, + 773.396122696142, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 921.4313612867509, + 771.896122696142, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 924.0294374981042, + 770.396122696142, + 41.10455499600956 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 924.0294374981042, + 770.396122696142, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 925.5294374981042, + 767.7980464847888, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 927.0294374981042, + 765.1999702734354, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 928.5294374981042, + 762.601894062082, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 930.0294374981042, + 760.0038178507286, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 931.5294374981042, + 757.4057416393753, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 933.0294374981042, + 754.8076654280219, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 934.5294374981042, + 752.2095892166685, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 936.0294374981042, + 749.6115130053151, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 937.5294374981042, + 747.0134367939618, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 939.0294374981042, + 744.4153605826084, + 41.10455499600956 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 939.0294374981042, + 744.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 939.0294374981042, + 741.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 939.0294374981042, + 738.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 939.0294374981042, + 735.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 939.0294374981042, + 732.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 939.0294374981042, + 729.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 939.0294374981042, + 726.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 939.0294374981042, + 723.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 939.0294374981042, + 720.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 939.0294374981042, + 717.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 939.0294374981042, + 714.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 939.0294374981042, + 711.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 939.0294374981042, + 708.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 939.0294374981042, + 705.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 939.0294374981042, + 702.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 939.0294374981042, + 699.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 939.0294374981042, + 696.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 939.0294374981042, + 693.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 939.0294374981042, + 690.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 939.0294374981042, + 687.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 939.0294374981042, + 684.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 939.0294374981042, + 681.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 939.0294374981042, + 678.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 939.0294374981042, + 675.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 939.0294374981042, + 672.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 939.0294374981042, + 669.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 939.0294374981042, + 666.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 939.0294374981042, + 663.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 939.0294374981042, + 660.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 939.0294374981042, + 657.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 939.0294374981042, + 654.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 939.0294374981042, + 651.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 939.0294374981042, + 648.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 939.0294374981042, + 645.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 939.0294374981042, + 642.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 939.0294374981042, + 639.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 939.0294374981042, + 636.4153605826084, + 41.10455499600956 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 939.0294374981042, + 633.4153605826084, + 41.10455499600956 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 940.0, + 620.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-46-31_1184154091/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-46-31_1184154091/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b455b0dcdb157cc366342ca544a8b2c440185b98 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-46-31_1184154091/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 91.47406621279794, + 560.2304162115056, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 92.97406621279794, + 562.828492422859, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 94.47406621279794, + 565.4265686342123, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 95.97406621279794, + 568.0246448455657, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 97.47406621279794, + 570.6227210569191, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 98.97406621279794, + 573.2207972682725, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 100.47406621279794, + 575.8188734796258, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 101.97406621279794, + 578.4169496909792, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 103.47406621279794, + 581.0150259023326, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 104.97406621279794, + 583.613102113686, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 106.47406621279794, + 586.2111783250393, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 107.97406621279794, + 588.8092545363927, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 109.47406621279794, + 591.4073307477461, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 110.97406621279794, + 594.0054069590994, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 112.47406621279794, + 596.6034831704528, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 113.97406621279794, + 599.2015593818062, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 115.47406621279794, + 601.7996355931596, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 116.97406621279794, + 604.3977118045129, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 118.47406621279794, + 606.9957880158663, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 119.97406621279794, + 609.5938642272197, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 121.47406621279794, + 612.191940438573, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 122.97406621279794, + 614.7900166499264, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 124.47406621279794, + 617.3880928612798, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 125.97406621279794, + 619.9861690726332, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 127.47406621279794, + 622.5842452839865, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 128.97406621279794, + 625.1823214953399, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 130.47406621279794, + 627.7803977066933, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 131.97406621279794, + 630.3784739180467, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 133.47406621279794, + 632.9765501294, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 134.97406621279794, + 635.5746263407534, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 136.47406621279794, + 638.1727025521068, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 137.97406621279794, + 640.7707787634602, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 139.47406621279794, + 643.3688549748135, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 140.97406621279794, + 645.9669311861669, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 142.47406621279794, + 648.5650073975203, + 61.13060126876952 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 142.47406621279794, + 648.5650073975203, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 142.47406621279794, + 651.5650073975203, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 142.47406621279794, + 654.5650073975203, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 142.47406621279794, + 657.5650073975203, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 142.47406621279794, + 660.5650073975203, + 61.13060126876952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 142.47406621279794, + 663.5650073975203, + 61.13060126876952 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 164.0, + 708.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-46-3_1588279465/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-46-3_1588279465/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6360254b23f9617aef376164ca6920e0a6deac5d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_11-46-3_1588279465/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1207.3947493476162, + -501.03366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1209.9928255589696, + -499.53366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1212.590901770323, + -498.03366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1215.1889779816763, + -496.53366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1217.7870541930297, + -495.03366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1220.385130404383, + -493.53366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1222.9832066157364, + -492.03366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1225.5812828270898, + -490.53366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1228.1793590384432, + -489.03366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1230.7774352497966, + -487.53366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1233.37551146115, + -486.03366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1235.9735876725033, + -484.53366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1238.5716638838567, + -483.03366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1241.16974009521, + -481.53366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1243.7678163065634, + -480.03366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1246.3658925179168, + -478.53366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1248.9639687292702, + -477.03366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1251.5620449406235, + -475.53366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1254.160121151977, + -474.03366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1256.7581973633303, + -472.53366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1259.3562735746837, + -471.03366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1261.954349786037, + -469.53366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1264.5524259973904, + -468.03366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1267.1505022087438, + -466.53366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1269.7485784200971, + -465.03366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1272.3466546314505, + -463.53366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1274.944730842804, + -462.03366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1277.5428070541573, + -460.53366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1280.1408832655106, + -459.03366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1282.738959476864, + -457.53366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1285.3370356882174, + -456.03366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1287.9351118995708, + -454.53366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1290.5331881109241, + -453.03366177977233, + 61.554449602289935 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1290.5331881109241, + -453.03366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1293.5331881109241, + -453.03366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1296.5331881109241, + -453.03366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1299.5331881109241, + -453.03366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1302.5331881109241, + -453.03366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1305.5331881109241, + -453.03366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1308.5331881109241, + -453.03366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1311.5331881109241, + -453.03366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1314.5331881109241, + -453.03366177977233, + 61.554449602289935 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1314.5331881109241, + -453.03366177977233, + 61.554449602289935 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1314.5331881109241, + -453.03366177977233, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1316.0331881109241, + -450.435585568419, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1317.5331881109241, + -447.8375093570657, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1319.0331881109241, + -445.2394331457124, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1320.5331881109241, + -442.64135693435907, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1322.0331881109241, + -440.04328072300575, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1323.5331881109241, + -437.44520451165243, + 61.554449602289935 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1325.0331881109241, + -434.8471283002991, + 61.554449602289935 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1352.0, + -420.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-14-38_1930644296/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-14-38_1930644296/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..527a5de53129f3fc5e6e48142d6622357cf1d928 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-14-38_1930644296/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1744.1671788696885, + 739.9515010090854, + 59.263495160139826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1746.765255081042, + 738.4515010090854, + 59.263495160139826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1749.3633312923953, + 736.9515010090854, + 59.263495160139826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1751.9614075037487, + 735.4515010090854, + 59.263495160139826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1754.559483715102, + 733.9515010090854, + 59.263495160139826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1757.1575599264554, + 732.4515010090854, + 59.263495160139826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1759.7556361378088, + 730.9515010090854, + 59.263495160139826 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1759.7556361378088, + 730.9515010090854, + 59.263495160139826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1761.2556361378088, + 728.353424797732, + 59.263495160139826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1762.7556361378088, + 725.7553485863787, + 59.263495160139826 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1860.0, + 644.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-17-28_1979629507/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-17-28_1979629507/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..974c182634ba752115eef7498fc1c94b1655239d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_12-17-28_1979629507/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -345.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -348.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -351.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -354.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -357.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -360.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -363.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -366.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -369.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -372.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -375.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -378.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -381.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -384.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -387.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -390.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -393.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -396.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -399.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -402.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -405.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -408.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -411.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -414.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -417.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -420.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -423.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -426.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -429.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -432.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -435.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -438.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -438.0291717375417, + -1408.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -440.627247948895, + -1409.6287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -443.2253241602483, + -1411.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -445.8234003716016, + -1412.6287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -448.42147658295494, + -1414.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -451.01955279430825, + -1415.6287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -453.61762900566157, + -1417.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -456.2157052170149, + -1418.6287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -458.8137814283682, + -1420.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -461.4118576397215, + -1421.6287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -464.00993385107483, + -1423.1287983809586, + 60.08796750244187 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -466.60801006242815, + -1424.6287983809586, + 60.08796750244187 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -496.0, + -1428.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-1-34_120214107/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-1-34_120214107/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..95b74fd3050c826cbcfdfd125843b3a93cbe3280 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-1-34_120214107/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 573.4225948413239, + -385.52089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 576.4225948413239, + -385.52089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 579.4225948413239, + -385.52089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 582.4225948413239, + -385.52089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 585.4225948413239, + -385.52089612495627, + 52.74538324736331 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 585.4225948413239, + -385.52089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 588.0206710526772, + -387.02089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 590.6187472640306, + -388.52089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 593.216823475384, + -390.02089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 595.8148996867374, + -391.52089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 598.4129758980907, + -393.02089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 601.0110521094441, + -394.52089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 603.6091283207975, + -396.02089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 606.2072045321509, + -397.52089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 608.8052807435042, + -399.02089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 611.4033569548576, + -400.52089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 614.001433166211, + -402.02089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 616.5995093775643, + -403.52089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 619.1975855889177, + -405.02089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 621.7956618002711, + -406.52089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 624.3937380116245, + -408.02089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 626.9918142229778, + -409.52089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 629.5898904343312, + -411.02089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 632.1879666456846, + -412.52089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 634.786042857038, + -414.02089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 637.3841190683913, + -415.52089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 639.9821952797447, + -417.02089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 642.5802714910981, + -418.52089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 645.1783477024514, + -420.02089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 647.7764239138048, + -421.52089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 650.3745001251582, + -423.02089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 652.9725763365116, + -424.52089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 655.5706525478649, + -426.02089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 658.1687287592183, + -427.52089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 660.7668049705717, + -429.02089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 663.3648811819251, + -430.52089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 665.9629573932784, + -432.02089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 668.5610336046318, + -433.52089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 671.1591098159852, + -435.02089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 673.7571860273385, + -436.52089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 676.3552622386919, + -438.02089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 678.9533384500453, + -439.52089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 681.5514146613987, + -441.02089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 684.149490872752, + -442.52089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 686.7475670841054, + -444.02089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 689.3456432954588, + -445.52089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 691.9437195068122, + -447.02089612495627, + 52.74538324736331 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 694.5417957181655, + -448.52089612495627, + 52.74538324736331 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 720.0, + -464.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-47-42_1845207433/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-47-42_1845207433/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c28f39a8900a72fce4b63dfb1d2822a323f74579 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-47-42_1845207433/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 781.0421261934907, + -336.9751198079896, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 779.5421261934907, + -334.37704359663627, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 778.0421261934907, + -331.77896738528295, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 776.5421261934907, + -329.18089117392964, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 775.0421261934907, + -326.5828149625763, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 773.5421261934907, + -323.984738751223, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 772.0421261934907, + -321.3866625398697, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 770.5421261934907, + -318.7885863285164, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 769.0421261934907, + -316.19051011716306, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 767.5421261934907, + -313.59243390580974, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 766.0421261934907, + -310.9943576944564, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 764.5421261934907, + -308.3962814831031, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 763.0421261934907, + -305.7982052717498, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 761.5421261934907, + -303.2001290603965, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 760.0421261934907, + -300.60205284904316, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 758.5421261934907, + -298.00397663768985, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 757.0421261934907, + -295.40590042633653, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 755.5421261934907, + -292.8078242149832, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 754.0421261934907, + -290.2097480036299, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 752.5421261934907, + -287.6116717922766, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 751.0421261934907, + -285.01359558092327, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 749.5421261934907, + -282.41551936956995, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 748.0421261934907, + -279.81744315821663, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 746.5421261934907, + -277.2193669468633, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 745.0421261934907, + -274.62129073551, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 743.5421261934907, + -272.0232145241567, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 742.0421261934907, + -269.42513831280337, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 740.5421261934907, + -266.82706210145005, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 739.0421261934907, + -264.22898589009674, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 737.5421261934907, + -261.6309096787434, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 736.0421261934907, + -259.0328334673901, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 734.5421261934907, + -256.4347572560368, + 44.72676064468954 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 734.5421261934907, + -256.4347572560368, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 731.9440499821374, + -254.9347572560368, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 729.345973770784, + -253.4347572560368, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 726.7478975594306, + -251.9347572560368, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 724.1498213480772, + -250.4347572560368, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 721.5517451367239, + -248.9347572560368, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 718.9536689253705, + -247.4347572560368, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 716.3555927140171, + -245.9347572560368, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 713.7575165026637, + -244.4347572560368, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 711.1594402913104, + -242.9347572560368, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 708.561364079957, + -241.4347572560368, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 705.9632878686036, + -239.9347572560368, + 44.72676064468954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 703.3652116572503, + -238.4347572560368, + 44.72676064468954 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 684.0, + -216.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-48-59_2093782069/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-48-59_2093782069/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..837dc0aacc991d557af70c0387ec4c2c02e3bbbd --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-48-59_2093782069/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 21.02354610179664, + 120.03483749507731, + 67.58714343808055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 23.621622313149956, + 118.53483749507731, + 67.58714343808055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 26.219698524503272, + 117.03483749507731, + 67.58714343808055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 28.817774735856588, + 115.53483749507731, + 67.58714343808055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 31.415850947209904, + 114.03483749507731, + 67.58714343808055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 34.01392715856322, + 112.53483749507731, + 67.58714343808055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 36.612003369916536, + 111.03483749507731, + 67.58714343808055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 39.21007958126985, + 109.53483749507731, + 67.58714343808055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 41.80815579262317, + 108.03483749507731, + 67.58714343808055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 44.406232003976484, + 106.53483749507731, + 67.58714343808055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 47.0043082153298, + 105.03483749507731, + 67.58714343808055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 49.602384426683116, + 103.53483749507731, + 67.58714343808055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 52.20046063803643, + 102.03483749507731, + 67.58714343808055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 54.79853684938975, + 100.53483749507731, + 67.58714343808055 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 57.396613060743064, + 99.03483749507731, + 67.58714343808055 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 57.396613060743064, + 99.03483749507731, + 67.58714343808055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 58.896613060743064, + 96.436761283724, + 67.58714343808055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 60.396613060743064, + 93.83868507237068, + 67.58714343808055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 61.896613060743064, + 91.24060886101736, + 67.58714343808055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 63.396613060743064, + 88.64253264966405, + 67.58714343808055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 64.89661306074306, + 86.04445643831073, + 67.58714343808055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 66.39661306074306, + 83.44638022695742, + 67.58714343808055 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 140.0, + 20.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-54-38_1018376938/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-54-38_1018376938/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3aed5930e48a4d62bbfa0717f2eb6ff3232ba91a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-54-38_1018376938/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -647.3973583377958, + 422.36697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -644.7992821264424, + 423.86697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -642.2012059150891, + 425.36697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -639.6031297037357, + 426.86697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -637.0050534923823, + 428.36697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -634.406977281029, + 429.86697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -631.8089010696756, + 431.36697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -629.2108248583222, + 432.86697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -626.6127486469688, + 434.36697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -624.0146724356155, + 435.86697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -621.4165962242621, + 437.36697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -618.8185200129087, + 438.86697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -616.2204438015553, + 440.36697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -613.622367590202, + 441.86697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -611.0242913788486, + 443.36697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -608.4262151674952, + 444.86697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -605.8281389561419, + 446.36697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -603.2300627447885, + 447.86697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -600.6319865334351, + 449.36697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -598.0339103220817, + 450.86697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -595.4358341107284, + 452.36697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -592.837757899375, + 453.86697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -590.2396816880216, + 455.36697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -587.6416054766682, + 456.86697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -585.0435292653149, + 458.36697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -582.4454530539615, + 459.86697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -579.8473768426081, + 461.36697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -577.2493006312548, + 462.86697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -574.6512244199014, + 464.36697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -572.053148208548, + 465.86697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -569.4550719971946, + 467.36697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -566.8569957858413, + 468.86697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -564.2589195744879, + 470.36697544370077, + 65.3147405085572 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -564.2589195744879, + 470.36697544370077, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -562.7589195744879, + 472.9650516550541, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -561.2589195744879, + 475.5631278664074, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -559.7589195744879, + 478.1612040777607, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -558.2589195744879, + 480.75928028911403, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -556.7589195744879, + 483.35735650046735, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -555.2589195744879, + 485.95543271182066, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -553.7589195744879, + 488.553508923174, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -552.2589195744879, + 491.1515851345273, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -550.7589195744879, + 493.7496613458806, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -549.2589195744879, + 496.3477375572339, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -547.7589195744879, + 498.94581376858724, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -546.2589195744879, + 501.54388997994056, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -544.7589195744879, + 504.1419661912939, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -543.2589195744879, + 506.7400424026472, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -541.7589195744879, + 509.3381186140005, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -540.2589195744879, + 511.9361948253538, + 65.3147405085572 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -538.7589195744879, + 514.5342710367072, + 65.3147405085572 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -516.0, + 536.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-55-36_358625421/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-55-36_358625421/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3ed587660ec19500630d680658b039fcdfb6264b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-55-36_358625421/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -988.5469193119719, + -1310.2912099747068, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -990.0469193119719, + -1307.6931337633534, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -991.5469193119719, + -1305.095057552, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -993.0469193119719, + -1302.4969813406467, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -994.5469193119719, + -1299.8989051292933, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -996.0469193119719, + -1297.30082891794, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -997.5469193119719, + -1294.7027527065866, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -999.0469193119719, + -1292.1046764952332, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1000.5469193119719, + -1289.5066002838798, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1002.0469193119719, + -1286.9085240725265, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1003.5469193119719, + -1284.310447861173, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1005.0469193119719, + -1281.7123716498197, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1006.5469193119719, + -1279.1142954384663, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1008.0469193119719, + -1276.516219227113, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1009.5469193119719, + -1273.9181430157596, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1011.0469193119719, + -1271.3200668044062, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1012.5469193119719, + -1268.7219905930529, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1014.0469193119719, + -1266.1239143816995, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1015.5469193119719, + -1263.525838170346, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1017.0469193119719, + -1260.9277619589927, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1018.5469193119719, + -1258.3296857476394, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1020.0469193119719, + -1255.731609536286, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1021.5469193119719, + -1253.1335333249326, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1023.0469193119719, + -1250.5354571135792, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1024.5469193119718, + -1247.9373809022259, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393153 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1026.0469193119718, + -1245.3393046908725, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1027.5469193119718, + -1242.7412284795191, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1029.0469193119718, + -1240.1431522681657, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1030.5469193119718, + -1237.5450760568124, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1032.0469193119718, + -1234.946999845459, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1033.5469193119718, + -1232.3489236341056, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1035.0469193119718, + -1229.7508474227523, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1036.5469193119718, + -1227.1527712113989, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1038.0469193119718, + -1224.5546950000455, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1039.5469193119718, + -1221.9566187886921, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1041.0469193119718, + -1219.3585425773388, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1042.5469193119718, + -1216.7604663659854, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1044.0469193119718, + -1214.162390154632, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1045.5469193119718, + -1211.5643139432786, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1047.0469193119718, + -1208.9662377319253, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1048.5469193119718, + -1206.368161520572, + 64.08190046107845 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1050.0469193119718, + -1203.7700853092185, + 64.08190046107845 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1064.0, + -1172.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-8-33_291425259/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-8-33_291425259/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ab3fb755538434a159c240d20625f9bdd25f01b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_13-8-33_291425259/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1307.7844200875663, + 568.3258422820581, + 67.64407218481891 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1310.3824962989197, + 566.8258422820581, + 67.64407218481891 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1312.980572510273, + 565.3258422820581, + 67.64407218481891 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1315.5786487216265, + 563.8258422820581, + 67.64407218481891 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1318.1767249329798, + 562.3258422820581, + 67.64407218481891 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1320.7748011443332, + 560.8258422820581, + 67.64407218481891 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1452.0, + 496.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-17-39_735001925/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-17-39_735001925/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..676cb764e4df41f849ab922e46d4953cd3f3bd0c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-17-39_735001925/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1086.9391481519351, + -961.8249431402976, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1088.4391481519351, + -959.2268669289442, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1089.9391481519351, + -956.6287907175908, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1091.4391481519351, + -954.0307145062375, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1092.9391481519351, + -951.4326382948841, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1094.4391481519351, + -948.8345620835307, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1095.9391481519351, + -946.2364858721774, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1097.4391481519351, + -943.638409660824, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1098.9391481519351, + -941.0403334494706, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1100.4391481519351, + -938.4422572381172, + 48.60351369019537 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1100.4391481519351, + -938.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1103.0372243632885, + -936.9422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1105.6353005746419, + -935.4422572381172, + 48.60351369019537 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1105.6353005746419, + -935.4422572381172, + 48.60351369019537 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1105.6353005746419, + -935.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1105.6353005746419, + -932.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1105.6353005746419, + -929.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1105.6353005746419, + -926.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1105.6353005746419, + -923.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1105.6353005746419, + -920.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1105.6353005746419, + -917.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1105.6353005746419, + -914.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1105.6353005746419, + -911.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1105.6353005746419, + -908.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1105.6353005746419, + -905.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1105.6353005746419, + -902.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1105.6353005746419, + -899.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1105.6353005746419, + -896.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1105.6353005746419, + -893.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1105.6353005746419, + -890.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1105.6353005746419, + -887.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1105.6353005746419, + -884.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1105.6353005746419, + -881.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1105.6353005746419, + -878.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1105.6353005746419, + -875.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1105.6353005746419, + -872.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1105.6353005746419, + -869.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1105.6353005746419, + -866.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1105.6353005746419, + -863.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1105.6353005746419, + -860.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1105.6353005746419, + -857.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1105.6353005746419, + -854.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1105.6353005746419, + -851.4422572381172, + 48.60351369019537 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1105.6353005746419, + -851.4422572381172, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1104.1353005746419, + -848.8441810267639, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1102.6353005746419, + -846.2461048154105, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1101.1353005746419, + -843.6480286040571, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1099.6353005746419, + -841.0499523927037, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1098.1353005746419, + -838.4518761813504, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1096.6353005746419, + -835.853799969997, + 48.60351369019537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1095.1353005746419, + -833.2557237586436, + 48.60351369019537 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1100.0, + -792.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-26-38_1690815424/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-26-38_1690815424/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..63d33b3b8dc6d4c46107070c4b1494f581cd089b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-26-38_1690815424/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1606.8772876780388, + -519.775038023932, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1609.4753638893922, + -521.275038023932, + 46.187034627567115 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1609.4753638893922, + -521.275038023932, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1610.9753638893922, + -523.8731142352854, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1612.4753638893922, + -526.4711904466387, + 46.187034627567115 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1612.4753638893922, + -526.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1615.0734401007455, + -527.9711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1617.671516312099, + -529.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1620.2695925234523, + -530.9711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1622.8676687348056, + -532.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1625.465744946159, + -533.9711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1628.0638211575124, + -535.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1630.6618973688658, + -536.9711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1633.2599735802191, + -538.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1635.8580497915725, + -539.9711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1638.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1638.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1641.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1644.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1647.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1650.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1653.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1656.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1659.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1662.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1665.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1668.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1671.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1674.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1677.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1680.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1683.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1686.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1689.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1692.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1695.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1698.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1701.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1704.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1707.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1710.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1713.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1716.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1719.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1722.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1725.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1728.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1731.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1734.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1737.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1740.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1743.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1746.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1749.4561260029259, + -541.4711904466387, + 46.187034627567115 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1784.0, + -548.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-32-47_188043983/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-32-47_188043983/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3b5321fd592dd6d912803aea9e801f13fdcc1163 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-32-47_188043983/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 883.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 880.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 877.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 874.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 871.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 868.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 865.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 862.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 859.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 856.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 853.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 850.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 847.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 844.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 841.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 838.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 835.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 832.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 829.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 826.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 823.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 820.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 817.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 814.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 811.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 808.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 805.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 802.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 799.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 796.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 793.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 790.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 787.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 784.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 781.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 778.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 775.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 772.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 769.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 766.1641444127581, + -1696.336443505058, + 59.193571221468765 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 724.0, + -1700.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-5-33_652942916/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-5-33_652942916/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c16214e58f38d4b0aa71eab9f0e5fd6779098459 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-5-33_652942916/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1148.462795619046, + -935.8204544085297, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1149.962795619046, + -938.4185306198831, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1151.462795619046, + -941.0166068312365, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1152.962795619046, + -943.6146830425898, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1154.462795619046, + -946.2127592539432, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1155.962795619046, + -948.8108354652966, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1157.462795619046, + -951.40891167665, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1158.962795619046, + -954.0069878880033, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1160.462795619046, + -956.6050640993567, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1161.962795619046, + -959.2031403107101, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1163.462795619046, + -961.8012165220634, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1164.962795619046, + -964.3992927334168, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1166.462795619046, + -966.9973689447702, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1167.962795619046, + -969.5954451561236, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1169.462795619046, + -972.1935213674769, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1170.962795619046, + -974.7915975788303, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1172.462795619046, + -977.3896737901837, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1173.962795619046, + -979.987750001537, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1175.462795619046, + -982.5858262128904, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1176.962795619046, + -985.1839024242438, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1178.462795619046, + -987.7819786355972, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1179.962795619046, + -990.3800548469505, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1181.462795619046, + -992.9781310583039, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1182.962795619046, + -995.5762072696573, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1184.462795619046, + -998.1742834810107, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1185.962795619046, + -1000.772359692364, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1187.462795619046, + -1003.3704359037174, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1188.962795619046, + -1005.9685121150708, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1190.462795619046, + -1008.5665883264242, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1191.962795619046, + -1011.1646645377775, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1193.462795619046, + -1013.7627407491309, + 66.42977483126757 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1193.462795619046, + -1013.7627407491309, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1196.0608718303993, + -1015.2627407491309, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1198.6589480417526, + -1016.7627407491309, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1201.257024253106, + -1018.2627407491309, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1203.8551004644594, + -1019.7627407491309, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1206.4531766758128, + -1021.2627407491309, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1209.0512528871661, + -1022.7627407491309, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1211.6493290985195, + -1024.262740749131, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1214.2474053098729, + -1025.762740749131, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1216.8454815212262, + -1027.262740749131, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1219.4435577325796, + -1028.762740749131, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1222.041633943933, + -1030.262740749131, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1224.6397101552864, + -1031.762740749131, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1227.2377863666397, + -1033.262740749131, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1229.835862577993, + -1034.762740749131, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1232.4339387893465, + -1036.262740749131, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1235.0320150006999, + -1037.762740749131, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1237.6300912120532, + -1039.262740749131, + 66.42977483126757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1240.2281674234066, + -1040.762740749131, + 66.42977483126757 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1256.0, + -1056.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-51-19_103087854/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-51-19_103087854/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..71d2f6ead88ecfee8d866473a6d78ddc482aa078 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-51-19_103087854/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -790.133123521749, + -594.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -792.7311997331024, + -596.2931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -795.3292759444557, + -597.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -797.9273521558091, + -599.2931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -800.5254283671625, + -600.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -803.1235045785158, + -602.2931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -805.7215807898692, + -603.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -808.3196570012226, + -605.2931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -810.917733212576, + -606.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -813.5158094239293, + -608.2931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -816.1138856352827, + -609.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -818.7119618466361, + -611.2931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -821.3100380579895, + -612.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -823.9081142693428, + -614.2931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -826.5061904806962, + -615.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -829.1042666920496, + -617.2931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -831.702342903403, + -618.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -834.3004191147563, + -620.2931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -836.8984953261097, + -621.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -839.4965715374631, + -623.2931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -842.0946477488164, + -624.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -844.6927239601698, + -626.2931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -847.2908001715232, + -627.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -849.8888763828766, + -629.2931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -852.4869525942299, + -630.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -855.0850288055833, + -632.2931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -857.6831050169367, + -633.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -860.28118122829, + -635.2931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -862.8792574396434, + -636.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -865.4773336509968, + -638.2931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -868.0754098623502, + -639.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -870.6734860737035, + -641.2931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -873.2715622850569, + -642.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -875.8696384964103, + -644.2931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -878.4677147077637, + -645.7931829093229, + 57.522412401565035 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -878.4677147077637, + -645.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -881.4677147077637, + -645.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -884.4677147077637, + -645.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -887.4677147077637, + -645.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -890.4677147077637, + -645.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -893.4677147077637, + -645.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -896.4677147077637, + -645.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -899.4677147077637, + -645.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -902.4677147077637, + -645.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -905.4677147077637, + -645.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -908.4677147077637, + -645.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -911.4677147077637, + -645.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -914.4677147077637, + -645.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -917.4677147077637, + -645.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -920.4677147077637, + -645.7931829093229, + 57.522412401565035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -923.4677147077637, + -645.7931829093229, + 57.522412401565035 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -948.0, + -656.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-52-41_984953220/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-52-41_984953220/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dee66877808d23c681d5ed8e638126cec7344904 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-52-41_984953220/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1712.2379942637021, + -1677.766815835825, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1710.7379942637021, + -1675.1687396244715, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1709.2379942637021, + -1672.5706634131182, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1707.7379942637021, + -1669.9725872017648, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1706.2379942637021, + -1667.3745109904114, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1704.7379942637021, + -1664.776434779058, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1703.2379942637021, + -1662.1783585677047, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1701.7379942637021, + -1659.5802823563513, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1700.2379942637021, + -1656.982206144998, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1698.7379942637021, + -1654.3841299336445, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1697.2379942637021, + -1651.7860537222912, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1695.7379942637021, + -1649.1879775109378, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1694.2379942637021, + -1646.5899012995844, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1692.7379942637021, + -1643.991825088231, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1691.2379942637021, + -1641.3937488768777, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1689.7379942637021, + -1638.7956726655243, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1688.2379942637021, + -1636.197596454171, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1686.7379942637021, + -1633.5995202428176, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1685.2379942637021, + -1631.0014440314642, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1683.7379942637021, + -1628.4033678201108, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1682.2379942637021, + -1625.8052916087574, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1680.7379942637021, + -1623.207215397404, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1679.2379942637021, + -1620.6091391860507, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1677.7379942637021, + -1618.0110629746973, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1676.2379942637021, + -1615.412986763344, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1674.7379942637021, + -1612.8149105519906, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1673.2379942637021, + -1610.2168343406372, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1671.7379942637021, + -1607.6187581292838, + 46.20746450310017 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1671.7379942637021, + -1607.6187581292838, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1669.1399180523488, + -1606.1187581292838, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1666.5418418409954, + -1604.6187581292838, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1663.943765629642, + -1603.1187581292838, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1661.3456894182887, + -1601.6187581292838, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1658.7476132069353, + -1600.1187581292838, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1656.149536995582, + -1598.6187581292838, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1653.5514607842285, + -1597.1187581292838, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1650.9533845728752, + -1595.6187581292838, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1648.3553083615218, + -1594.1187581292838, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1645.7572321501684, + -1592.6187581292838, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1643.159155938815, + -1591.1187581292838, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1640.5610797274617, + -1589.6187581292838, + 46.20746450310017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1637.9630035161083, + -1588.1187581292838, + 46.20746450310017 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1612.0, + -1556.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-54-33_1629190168/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-54-33_1629190168/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f95590a69b1454dfbee8ff3bf25a28978a43caa1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-54-33_1629190168/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1761.175901624178, + -1010.1360872360203, + 58.89560970711723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1762.675901624178, + -1012.7341634473737, + 58.89560970711723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1764.175901624178, + -1015.3322396587271, + 58.89560970711723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1765.675901624178, + -1017.9303158700804, + 58.89560970711723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1767.175901624178, + -1020.5283920814338, + 58.89560970711723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1768.675901624178, + -1023.1264682927872, + 58.89560970711723 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1836.0, + -1148.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-55-56_2096819439/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-55-56_2096819439/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b9a32eaa90b43f237f755a7683a6258c2fd45e9c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_14-55-56_2096819439/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1709.8732796763068, + -1058.0821210713336, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1711.3732796763068, + -1055.4840448599803, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1712.8732796763068, + -1052.8859686486269, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1714.3732796763068, + -1050.2878924372735, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1715.8732796763068, + -1047.6898162259201, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1717.3732796763068, + -1045.0917400145668, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1718.8732796763068, + -1042.4936638032134, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1720.3732796763068, + -1039.89558759186, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1721.8732796763068, + -1037.2975113805066, + 53.82958767676023 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1721.8732796763068, + -1037.2975113805066, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1724.4713558876601, + -1035.7975113805066, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1727.0694320990135, + -1034.2975113805066, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1729.6675083103669, + -1032.7975113805066, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1732.2655845217203, + -1031.2975113805066, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1734.8636607330736, + -1029.7975113805066, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1737.461736944427, + -1028.2975113805066, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1740.0598131557804, + -1026.7975113805066, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1742.6578893671337, + -1025.2975113805066, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1745.2559655784871, + -1023.7975113805066, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1747.8540417898405, + -1022.2975113805066, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1750.4521180011939, + -1020.7975113805066, + 53.82958767676023 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1750.4521180011939, + -1020.7975113805066, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1751.9521180011939, + -1018.1994351691533, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1753.4521180011939, + -1015.6013589577999, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1754.9521180011939, + -1013.0032827464465, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1756.4521180011939, + -1010.4052065350932, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1757.9521180011939, + -1007.8071303237398, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1759.4521180011939, + -1005.2090541123864, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1760.9521180011939, + -1002.610977901033, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1762.4521180011939, + -1000.0129016896797, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1763.9521180011939, + -997.4148254783263, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1765.4521180011939, + -994.8167492669729, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1766.9521180011939, + -992.2186730556195, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1768.4521180011939, + -989.6205968442662, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1769.9521180011939, + -987.0225206329128, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1771.4521180011939, + -984.4244444215594, + 53.82958767676023 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1771.4521180011939, + -984.4244444215594, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1771.4521180011939, + -981.4244444215594, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1771.4521180011939, + -978.4244444215594, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1771.4521180011939, + -975.4244444215594, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1771.4521180011939, + -972.4244444215594, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1771.4521180011939, + -969.4244444215594, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1771.4521180011939, + -966.4244444215594, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1771.4521180011939, + -963.4244444215594, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1771.4521180011939, + -960.4244444215594, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1771.4521180011939, + -957.4244444215594, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1771.4521180011939, + -954.4244444215594, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1771.4521180011939, + -951.4244444215594, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1771.4521180011939, + -948.4244444215594, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1771.4521180011939, + -945.4244444215594, + 53.82958767676023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1771.4521180011939, + -942.4244444215594, + 53.82958767676023 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1784.0, + -924.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-26-43_1191566617/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-26-43_1191566617/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef14c136f308f133bd02b63a7f497860026c0f2d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-26-43_1191566617/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -276.0796902742868, + 950.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -278.6777664856401, + 948.6352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -281.27584269699344, + 947.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -283.87391890834675, + 945.6352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -286.47199511970007, + 944.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -289.0700713310534, + 942.6352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -291.6681475424067, + 941.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -294.26622375376, + 939.6352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -296.86429996511333, + 938.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -299.46237617646665, + 936.6352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -302.06045238781996, + 935.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -304.6585285991733, + 933.6352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -307.2566048105266, + 932.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -309.8546810218799, + 930.6352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -312.4527572332332, + 929.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -315.05083344458654, + 927.6352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -317.64890965593986, + 926.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -320.2469858672932, + 924.6352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -322.8450620786465, + 923.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -325.4431382899998, + 921.6352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -328.0412145013531, + 920.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -330.63929071270644, + 918.6352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -333.23736692405976, + 917.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -335.8354431354131, + 915.6352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -338.4335193467664, + 914.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -341.0315955581197, + 912.6352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -343.629671769473, + 911.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -346.22774798082634, + 909.6352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -348.82582419217965, + 908.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -351.42390040353297, + 906.6352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -354.0219766148863, + 905.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -356.6200528262396, + 903.6352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -359.2181290375929, + 902.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -361.81620524894623, + 900.6352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -364.41428146029955, + 899.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -367.01235767165286, + 897.6352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -369.6104338830062, + 896.1352891208468, + 44.708892265572246 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -369.6104338830062, + 896.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -372.6104338830062, + 896.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -375.6104338830062, + 896.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -378.6104338830062, + 896.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -381.6104338830062, + 896.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -384.6104338830062, + 896.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -387.6104338830062, + 896.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -390.6104338830062, + 896.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -393.6104338830062, + 896.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -396.6104338830062, + 896.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -399.6104338830062, + 896.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -402.6104338830062, + 896.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -405.6104338830062, + 896.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -408.6104338830062, + 896.1352891208468, + 44.708892265572246 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -411.6104338830062, + 896.1352891208468, + 44.708892265572246 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -436.0, + 888.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-59-21_941117027/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-59-21_941117027/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3276a7959bf50b7c2aef59862cef751cbbee1326 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-59-21_941117027/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1078.1769562791428, + 547.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1078.1769562791428, + 544.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1078.1769562791428, + 541.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1078.1769562791428, + 538.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1078.1769562791428, + 535.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1078.1769562791428, + 532.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1078.1769562791428, + 529.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1078.1769562791428, + 526.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1078.1769562791428, + 523.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1078.1769562791428, + 520.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1078.1769562791428, + 517.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1078.1769562791428, + 514.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1078.1769562791428, + 511.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1078.1769562791428, + 508.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1078.1769562791428, + 505.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1078.1769562791428, + 502.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1078.1769562791428, + 499.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1078.1769562791428, + 496.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1078.1769562791428, + 493.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1078.1769562791428, + 490.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1078.1769562791428, + 487.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1078.1769562791428, + 484.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1078.1769562791428, + 481.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1078.1769562791428, + 478.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1078.1769562791428, + 475.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1078.1769562791428, + 472.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1078.1769562791428, + 469.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1078.1769562791428, + 466.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1078.1769562791428, + 463.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1078.1769562791428, + 460.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1078.1769562791428, + 457.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1078.1769562791428, + 454.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1078.1769562791428, + 451.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1078.1769562791428, + 448.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1078.1769562791428, + 445.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1078.1769562791428, + 442.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1078.1769562791428, + 439.9546476699328, + 66.04250825172446 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1078.1769562791428, + 439.9546476699328, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1079.6769562791428, + 437.3565714585795, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1081.1769562791428, + 434.75849524722616, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1082.6769562791428, + 432.16041903587285, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1084.1769562791428, + 429.56234282451953, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1085.6769562791428, + 426.9642666131662, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1087.1769562791428, + 424.3661904018129, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1088.6769562791428, + 421.7681141904596, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1090.1769562791428, + 419.17003797910627, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1091.6769562791428, + 416.57196176775295, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1093.1769562791428, + 413.97388555639964, + 66.04250825172446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1094.6769562791428, + 411.3758093450463, + 66.04250825172446 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1096.0, + 396.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-7-8_1745520789/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-7-8_1745520789/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1cabe13b263e5e4d97e2d65abc3fce7fb1b8f49b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_15-7-8_1745520789/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1337.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1334.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1331.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1328.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1325.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1322.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1319.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1316.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1313.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1310.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1307.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1304.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1301.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1298.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1295.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1292.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1289.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1286.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1283.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1280.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1277.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1274.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1271.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1268.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1265.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1262.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1259.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1256.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1253.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1250.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1247.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1244.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1244.618279992519, + -237.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1242.0202037811657, + -238.55720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1239.4221275698123, + -240.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1236.824051358459, + -241.55720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1234.2259751471056, + -243.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1231.6278989357522, + -244.55720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1229.0298227243989, + -246.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1226.4317465130455, + -247.55720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1223.833670301692, + -249.05720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1221.2355940903387, + -250.55720583161278, + 58.302701671227126 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1218.6375178789854, + -252.05720583161278, + 58.302701671227126 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1184.0, + -256.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-23-4_878051463/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-23-4_878051463/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bd8638e78ca63a14d73b629c25d3e3d55b5bbe2a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-23-4_878051463/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -13.68969517822326, + 722.4048709932616, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -15.18969517822326, + 725.0029472046149, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -16.68969517822326, + 727.6010234159683, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -18.18969517822326, + 730.1990996273216, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -19.68969517822326, + 732.797175838675, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -21.18969517822326, + 735.3952520500284, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -22.68969517822326, + 737.9933282613817, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -24.18969517822326, + 740.5914044727351, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -25.68969517822326, + 743.1894806840885, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -27.18969517822326, + 745.7875568954419, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -28.68969517822326, + 748.3856331067952, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -30.18969517822326, + 750.9837093181486, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -31.68969517822326, + 753.581785529502, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -33.18969517822326, + 756.1798617408554, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -34.68969517822326, + 758.7779379522087, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -36.18969517822326, + 761.3760141635621, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -37.68969517822326, + 763.9740903749155, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -39.18969517822326, + 766.5721665862688, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -40.68969517822326, + 769.1702427976222, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -42.18969517822326, + 771.7683190089756, + 65.47169322848112 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -42.18969517822326, + 771.7683190089756, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -44.78777138957658, + 773.2683190089756, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -47.38584760092989, + 774.7683190089756, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -49.98392381228321, + 776.2683190089756, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -52.582000023636525, + 777.7683190089756, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -55.18007623498984, + 779.2683190089756, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -57.77815244634316, + 780.7683190089756, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -60.37622865769647, + 782.2683190089756, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -62.97430486904979, + 783.7683190089756, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -65.5723810804031, + 785.2683190089756, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -68.17045729175642, + 786.7683190089756, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -70.76853350310974, + 788.2683190089756, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -73.36660971446305, + 789.7683190089756, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -75.96468592581637, + 791.2683190089756, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -78.56276213716968, + 792.7683190089756, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -81.160838348523, + 794.2683190089756, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -83.75891455987632, + 795.7683190089756, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -86.35699077122963, + 797.2683190089756, + 65.47169322848112 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -86.35699077122963, + 797.2683190089756, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -87.85699077122963, + 799.866395220329, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -89.35699077122963, + 802.4644714316823, + 65.47169322848112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -90.85699077122963, + 805.0625476430357, + 65.47169322848112 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -120.0, + 836.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-3-47_1227477752/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-3-47_1227477752/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6f1f54863af113e46b24b3796ca4ac7ac8afd199 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-3-47_1227477752/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1775.0506899195127, + -660.0569339634743, + 53.80047901468012 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1778.0506899195127, + -660.0569339634743, + 53.80047901468012 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1781.0506899195127, + -660.0569339634743, + 53.80047901468012 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1784.0506899195127, + -660.0569339634743, + 53.80047901468012 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1787.0506899195127, + -660.0569339634743, + 53.80047901468012 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1790.0506899195127, + -660.0569339634743, + 53.80047901468012 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1793.0506899195127, + -660.0569339634743, + 53.80047901468012 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1796.0506899195127, + -660.0569339634743, + 53.80047901468012 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1796.0506899195127, + -660.0569339634743, + 53.80047901468012 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1798.648766130866, + -658.5569339634743, + 53.80047901468012 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1801.2468423422195, + -657.0569339634743, + 53.80047901468012 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1932.0, + -644.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-30-0_1599534911/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-30-0_1599534911/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..597c8df35b50b4102093ebdf965f949f97a5caef --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-30-0_1599534911/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1476.2941071239136, + 390.29968409344116, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1477.7941071239136, + 387.70160788208784, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1479.2941071239136, + 385.1035316707345, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1480.7941071239136, + 382.5054554593812, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1482.2941071239136, + 379.9073792480279, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1483.7941071239136, + 377.3093030366746, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1485.2941071239136, + 374.71122682532126, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1486.7941071239136, + 372.11315061396795, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1488.2941071239136, + 369.51507440261463, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1489.7941071239136, + 366.9169981912613, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1491.2941071239136, + 364.318921979908, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1492.7941071239136, + 361.7208457685547, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1494.2941071239136, + 359.12276955720137, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1495.7941071239136, + 356.52469334584805, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1497.2941071239136, + 353.92661713449473, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1498.7941071239136, + 351.3285409231414, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1500.2941071239136, + 348.7304647117881, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1501.7941071239136, + 346.1323885004348, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1503.2941071239136, + 343.53431228908147, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1504.7941071239136, + 340.93623607772815, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1506.2941071239136, + 338.33815986637484, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1507.7941071239136, + 335.7400836550215, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1509.2941071239136, + 333.1420074436682, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1510.7941071239136, + 330.5439312323149, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1512.2941071239136, + 327.9458550209616, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1513.7941071239136, + 325.34777880960826, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1515.2941071239136, + 322.74970259825494, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1516.7941071239136, + 320.1516263869016, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1518.2941071239136, + 317.5535501755483, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1519.7941071239136, + 314.955473964195, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1521.2941071239136, + 312.3573977528417, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1522.7941071239136, + 309.75932154148836, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1524.2941071239136, + 307.16124533013505, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1525.7941071239136, + 304.56316911878173, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1527.2941071239136, + 301.9650929074284, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1528.7941071239136, + 299.3670166960751, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1530.2941071239136, + 296.7689404847218, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1531.7941071239136, + 294.17086427336847, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1533.2941071239136, + 291.57278806201515, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1534.7941071239136, + 288.97471185066183, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1536.2941071239136, + 286.3766356393085, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1537.7941071239136, + 283.7785594279552, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1539.2941071239136, + 281.1804832166019, + 61.28268335026811 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1539.2941071239136, + 281.1804832166019, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1541.892183335267, + 279.6804832166019, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1544.4902595466203, + 278.1804832166019, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1547.0883357579737, + 276.6804832166019, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1549.686411969327, + 275.1804832166019, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1552.2844881806805, + 273.6804832166019, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1554.8825643920338, + 272.1804832166019, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1557.4806406033872, + 270.6804832166019, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1560.0787168147406, + 269.1804832166019, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1562.676793026094, + 267.6804832166019, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1565.2748692374473, + 266.1804832166019, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1567.8729454488007, + 264.6804832166019, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1570.471021660154, + 263.1804832166019, + 61.28268335026811 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1573.0690978715074, + 261.6804832166019, + 61.28268335026811 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1584.0, + 248.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-33-55_895610196/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-33-55_895610196/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d2ca7e883221159f59c0a090fb7033e5656eab1c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-33-55_895610196/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1569.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1572.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1575.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1578.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1581.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1584.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1587.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1590.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1593.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1596.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1599.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1602.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1605.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1608.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1611.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1614.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1617.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1620.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1623.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1626.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1629.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1632.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1635.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1638.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1641.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1644.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1647.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1650.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1653.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1656.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1659.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1662.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1665.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1668.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1671.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1671.3249957731618, + 1515.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1673.9230719845152, + 1513.647188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1676.5211481958686, + 1512.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1679.119224407222, + 1510.647188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1681.7173006185753, + 1509.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1684.3153768299287, + 1507.647188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1686.913453041282, + 1506.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1689.5115292526355, + 1504.647188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1692.1096054639888, + 1503.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1694.7076816753422, + 1501.647188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1697.3057578866956, + 1500.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1699.903834098049, + 1498.647188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1702.5019103094023, + 1497.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1705.0999865207557, + 1495.647188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1707.698062732109, + 1494.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1710.2961389434624, + 1492.647188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1712.8942151548158, + 1491.147188089888, + 54.248450112059594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1715.4922913661692, + 1489.647188089888, + 54.248450112059594 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1744.0, + 1484.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-45-46_362447374/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-45-46_362447374/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b1c50401c6f1913becaa5ed50c6a561016c764f0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-45-46_362447374/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 966.2796192523834, + -218.69987768518007, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 963.6815430410302, + -217.19987768518007, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 961.0834668296768, + -215.69987768518007, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 958.4853906183234, + -214.19987768518007, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 955.8873144069701, + -212.69987768518007, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 953.2892381956167, + -211.19987768518007, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 950.6911619842633, + -209.69987768518007, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 948.09308577291, + -208.19987768518007, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 945.4950095615566, + -206.69987768518007, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 942.8969333502032, + -205.19987768518007, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 940.2988571388498, + -203.69987768518007, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 937.7007809274965, + -202.19987768518007, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 935.1027047161431, + -200.69987768518007, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 932.5046285047897, + -199.19987768518007, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 929.9065522934363, + -197.69987768518007, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 927.308476082083, + -196.19987768518007, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 924.7103998707296, + -194.69987768518007, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 922.1123236593762, + -193.19987768518007, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 919.5142474480228, + -191.69987768518007, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 916.9161712366695, + -190.19987768518007, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 914.3180950253161, + -188.69987768518007, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 911.7200188139627, + -187.19987768518007, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 909.1219426026094, + -185.69987768518007, + 69.51994306217095 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 909.1219426026094, + -185.69987768518007, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 907.6219426026094, + -183.10180147382675, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 906.1219426026094, + -180.50372526247344, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 904.6219426026094, + -177.90564905112012, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 903.1219426026094, + -175.3075728397668, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 901.6219426026094, + -172.7094966284135, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 900.1219426026094, + -170.11142041706017, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 898.6219426026094, + -167.51334420570686, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 897.1219426026094, + -164.91526799435354, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 895.6219426026094, + -162.31719178300023, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 894.1219426026094, + -159.7191155716469, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 892.6219426026094, + -157.1210393602936, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 891.1219426026094, + -154.52296314894028, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 889.6219426026094, + -151.92488693758696, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 888.1219426026094, + -149.32681072623365, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 886.6219426026094, + -146.72873451488033, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 885.1219426026094, + -144.130658303527, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 883.6219426026094, + -141.5325820921737, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 882.1219426026094, + -138.93450588082038, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 880.6219426026094, + -136.33642966946707, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 879.1219426026094, + -133.73835345811375, + 69.51994306217095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 877.6219426026094, + -131.14027724676043, + 69.51994306217095 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 848.0, + -104.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-6-55_1909676663/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-6-55_1909676663/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..64bb4f06f24744b327807ffb551ca648334ab9e5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_16-6-55_1909676663/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1550.2159293637958, + 1321.7301960744762, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1548.7159293637958, + 1319.1321198631229, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1547.2159293637958, + 1316.5340436517695, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1545.7159293637958, + 1313.935967440416, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1544.2159293637958, + 1311.3378912290627, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1542.7159293637958, + 1308.7398150177094, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1541.2159293637958, + 1306.141738806356, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1539.7159293637958, + 1303.5436625950026, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1538.2159293637958, + 1300.9455863836492, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1536.7159293637958, + 1298.3475101722959, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1535.2159293637958, + 1295.7494339609425, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1533.7159293637958, + 1293.1513577495891, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1532.2159293637958, + 1290.5532815382358, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1530.7159293637958, + 1287.9552053268824, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1529.2159293637958, + 1285.357129115529, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1527.7159293637958, + 1282.7590529041756, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1526.2159293637958, + 1280.1609766928223, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1524.7159293637958, + 1277.562900481469, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1523.2159293637958, + 1274.9648242701155, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1521.7159293637958, + 1272.3667480587621, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1520.2159293637958, + 1269.7686718474088, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1518.7159293637958, + 1267.1705956360554, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1517.2159293637958, + 1264.572519424702, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1515.7159293637958, + 1261.9744432133486, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1514.2159293637958, + 1259.3763670019953, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1512.7159293637958, + 1256.778290790642, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1511.2159293637958, + 1254.1802145792885, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1509.7159293637958, + 1251.5821383679352, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1508.2159293637958, + 1248.9840621565818, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1506.7159293637958, + 1246.3859859452284, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1505.2159293637958, + 1243.787909733875, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1503.7159293637958, + 1241.1898335225217, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1502.2159293637958, + 1238.5917573111683, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1500.7159293637958, + 1235.993681099815, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1499.2159293637958, + 1233.3956048884615, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1497.7159293637958, + 1230.7975286771082, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1496.2159293637958, + 1228.1994524657548, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1494.7159293637958, + 1225.6013762544014, + 45.16364023124429 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1494.7159293637958, + 1225.6013762544014, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1492.1178531524424, + 1224.1013762544014, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1489.519776941089, + 1222.6013762544014, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1486.9217007297357, + 1221.1013762544014, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1484.3236245183823, + 1219.6013762544014, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1481.725548307029, + 1218.1013762544014, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1479.1274720956756, + 1216.6013762544014, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1476.5293958843222, + 1215.1013762544014, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1473.9313196729688, + 1213.6013762544014, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1471.3332434616154, + 1212.1013762544014, + 45.16364023124429 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1471.3332434616154, + 1212.1013762544014, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1469.8332434616154, + 1209.503300043048, + 45.16364023124429 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1468.3332434616154, + 1206.9052238316947, + 45.16364023124429 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1452.0, + 1184.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-0-1_608580149/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-0-1_608580149/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4656e2b387b36b64e8be946e6f9a0277b42a0512 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-0-1_608580149/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1092.2766857439017, + 1462.8741366937859, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1090.7766857439017, + 1465.4722129051393, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1089.2766857439017, + 1468.0702891164926, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1087.7766857439017, + 1470.668365327846, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1086.2766857439017, + 1473.2664415391994, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1084.7766857439017, + 1475.8645177505527, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1083.2766857439017, + 1478.4625939619061, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1081.7766857439017, + 1481.0606701732595, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1080.2766857439017, + 1483.6587463846129, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1078.7766857439017, + 1486.2568225959662, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1077.2766857439017, + 1488.8548988073196, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1075.7766857439017, + 1491.452975018673, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1074.2766857439017, + 1494.0510512300264, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1072.7766857439017, + 1496.6491274413797, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1071.2766857439017, + 1499.247203652733, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1069.7766857439017, + 1501.8452798640865, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1068.2766857439017, + 1504.4433560754399, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1066.7766857439017, + 1507.0414322867932, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1065.2766857439017, + 1509.6395084981466, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1063.7766857439017, + 1512.2375847095, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1062.2766857439017, + 1514.8356609208533, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1060.7766857439017, + 1517.4337371322067, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1059.2766857439017, + 1520.03181334356, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1057.7766857439017, + 1522.6298895549135, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1056.2766857439017, + 1525.2279657662668, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1054.7766857439017, + 1527.8260419776202, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1053.2766857439017, + 1530.4241181889736, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1051.7766857439017, + 1533.022194400327, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1050.2766857439017, + 1535.6202706116803, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1048.7766857439017, + 1538.2183468230337, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1047.2766857439017, + 1540.816423034387, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1045.7766857439017, + 1543.4144992457404, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1044.2766857439017, + 1546.0125754570938, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1042.7766857439017, + 1548.6106516684472, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1041.2766857439017, + 1551.2087278798006, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1039.7766857439017, + 1553.806804091154, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1038.2766857439017, + 1556.4048803025073, + 58.84079213557448 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1038.2766857439017, + 1556.4048803025073, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1038.2766857439017, + 1559.4048803025073, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1038.2766857439017, + 1562.4048803025073, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1038.2766857439017, + 1565.4048803025073, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1038.2766857439017, + 1568.4048803025073, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1038.2766857439017, + 1571.4048803025073, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1038.2766857439017, + 1574.4048803025073, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1038.2766857439017, + 1577.4048803025073, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1038.2766857439017, + 1580.4048803025073, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1038.2766857439017, + 1583.4048803025073, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1038.2766857439017, + 1586.4048803025073, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1038.2766857439017, + 1589.4048803025073, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1038.2766857439017, + 1592.4048803025073, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1038.2766857439017, + 1595.4048803025073, + 58.84079213557448 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1038.2766857439017, + 1598.4048803025073, + 58.84079213557448 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1032.0, + 1620.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-16-59_1140579593/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-16-59_1140579593/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..59e883ef2c0316cb6b10ab8434232d1070701124 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_17-16-59_1140579593/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1357.1470473287375, + -236.36115216482315, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1358.6470473287375, + -233.76307595346984, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1360.1470473287375, + -231.16499974211652, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1361.6470473287375, + -228.5669235307632, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1363.1470473287375, + -225.9688473194099, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1364.6470473287375, + -223.37077110805657, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1366.1470473287375, + -220.77269489670326, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1367.6470473287375, + -218.17461868534994, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1369.1470473287375, + -215.57654247399662, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1370.6470473287375, + -212.9784662626433, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1372.1470473287375, + -210.38039005129, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1373.6470473287375, + -207.78231383993668, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1375.1470473287375, + -205.18423762858336, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1376.6470473287375, + -202.58616141723004, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1378.1470473287375, + -199.98808520587673, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1379.6470473287375, + -197.3900089945234, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1381.1470473287375, + -194.7919327831701, + 42.98009766930684 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1381.1470473287375, + -194.7919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1383.7451235400908, + -193.2919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1386.3431997514442, + -191.7919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1388.9412759627976, + -190.2919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1391.539352174151, + -188.7919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1394.1374283855043, + -187.2919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1396.7355045968577, + -185.7919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1399.333580808211, + -184.2919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1401.9316570195645, + -182.7919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1404.5297332309178, + -181.2919327831701, + 42.98009766930684 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1404.5297332309178, + -181.2919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1407.5297332309178, + -181.2919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1410.5297332309178, + -181.2919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1413.5297332309178, + -181.2919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1416.5297332309178, + -181.2919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1419.5297332309178, + -181.2919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1422.5297332309178, + -181.2919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1425.5297332309178, + -181.2919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1428.5297332309178, + -181.2919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1431.5297332309178, + -181.2919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1434.5297332309178, + -181.2919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1437.5297332309178, + -181.2919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1440.5297332309178, + -181.2919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1443.5297332309178, + -181.2919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1446.5297332309178, + -181.2919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1449.5297332309178, + -181.2919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1452.5297332309178, + -181.2919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1455.5297332309178, + -181.2919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1458.5297332309178, + -181.2919327831701, + 42.98009766930684 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1461.5297332309178, + -181.2919327831701, + 42.98009766930684 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1500.0, + -164.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-21-56_608113244/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-21-56_608113244/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..929737ac99f6ae37245a611cf9abc2b075c5c953 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-21-56_608113244/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1787.1082231106577, + 127.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1787.1082231106577, + 130.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1787.1082231106577, + 133.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1787.1082231106577, + 136.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1787.1082231106577, + 139.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1787.1082231106577, + 142.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1787.1082231106577, + 145.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1787.1082231106577, + 148.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1787.1082231106577, + 151.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1787.1082231106577, + 154.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1787.1082231106577, + 157.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1787.1082231106577, + 160.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1787.1082231106577, + 163.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1787.1082231106577, + 166.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1787.1082231106577, + 169.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1787.1082231106577, + 172.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1787.1082231106577, + 175.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1787.1082231106577, + 178.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1787.1082231106577, + 181.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1787.1082231106577, + 184.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1787.1082231106577, + 187.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1787.1082231106577, + 190.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1787.1082231106577, + 193.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1787.1082231106577, + 196.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1787.1082231106577, + 199.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1787.1082231106577, + 202.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1787.1082231106577, + 205.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1787.1082231106577, + 208.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1787.1082231106577, + 211.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1787.1082231106577, + 214.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1787.1082231106577, + 217.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1787.1082231106577, + 220.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1787.1082231106577, + 223.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1787.1082231106577, + 226.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1787.1082231106577, + 229.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1787.1082231106577, + 232.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1787.1082231106577, + 235.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1787.1082231106577, + 238.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1787.1082231106577, + 241.4608583633865, + 65.42157129841384 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1787.1082231106577, + 241.4608583633865, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1785.6082231106577, + 244.05893457473982, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1784.1082231106577, + 246.65701078609314, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1782.6082231106577, + 249.25508699744645, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1781.1082231106577, + 251.85316320879977, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1779.6082231106577, + 254.4512394201531, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1778.1082231106577, + 257.0493156315064, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1776.6082231106577, + 259.6473918428597, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1775.1082231106577, + 262.245468054213, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1773.6082231106577, + 264.8435442655663, + 65.42157129841384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1772.1082231106577, + 267.44162047691964, + 65.42157129841384 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1768.0, + 296.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-27-31_848857675/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-27-31_848857675/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0c6d953794de4068008737cb364bd5e3c8ba5f68 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-27-31_848857675/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1601.812469227866, + 1394.7131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1604.4105454392193, + 1396.2131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1607.0086216505726, + 1397.7131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1609.606697861926, + 1399.2131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1612.2047740732794, + 1400.7131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1614.8028502846328, + 1402.2131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1617.4009264959861, + 1403.7131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1619.9990027073395, + 1405.2131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1622.597078918693, + 1406.7131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1625.1951551300463, + 1408.2131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1627.7932313413996, + 1409.7131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1630.391307552753, + 1411.2131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1632.9893837641064, + 1412.7131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1635.5874599754598, + 1414.2131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1638.1855361868131, + 1415.7131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1640.7836123981665, + 1417.2131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1643.3816886095199, + 1418.7131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1645.9797648208732, + 1420.2131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1648.5778410322266, + 1421.7131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1651.17591724358, + 1423.2131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1653.7739934549334, + 1424.7131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1656.3720696662867, + 1426.2131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1658.97014587764, + 1427.7131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1661.5682220889935, + 1429.2131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1664.1662983003469, + 1430.7131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1666.7643745117002, + 1432.2131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1669.3624507230536, + 1433.7131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1671.960526934407, + 1435.2131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1674.5586031457603, + 1436.7131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1677.1566793571137, + 1438.2131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1679.754755568467, + 1439.7131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1682.3528317798205, + 1441.2131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1684.9509079911738, + 1442.7131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1687.5489842025272, + 1444.2131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1690.1470604138806, + 1445.7131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1692.745136625234, + 1447.2131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1695.3432128365873, + 1448.7131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1697.9412890479407, + 1450.2131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1700.539365259294, + 1451.7131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1703.1374414706474, + 1453.2131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1705.7355176820008, + 1454.7131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1708.3335938933542, + 1456.2131899447231, + 52.165732287172375 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1708.3335938933542, + 1456.2131899447231, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1709.8335938933542, + 1458.8112661560765, + 52.165732287172375 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1711.3335938933542, + 1461.4093423674299, + 52.165732287172375 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1744.0, + 1484.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-30-36_1917957771/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-30-36_1917957771/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b943af58112c3c406d6c11e6c03c1e3f1e9828ae --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-30-36_1917957771/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1401.1548758092217, + -742.7565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1398.5567995978683, + -744.2565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1395.958723386515, + -745.7565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1393.3606471751616, + -747.2565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1390.7625709638082, + -748.7565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1388.1644947524549, + -750.2565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1385.5664185411015, + -751.7565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1382.968342329748, + -753.2565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1380.3702661183947, + -754.7565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1377.7721899070414, + -756.2565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1375.174113695688, + -757.7565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1372.5760374843346, + -759.2565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1369.9779612729812, + -760.7565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1367.3798850616279, + -762.2565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1364.7818088502745, + -763.7565705020716, + 62.31584284106675 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1364.7818088502745, + -763.7565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1361.7818088502745, + -763.7565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1358.7818088502745, + -763.7565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1355.7818088502745, + -763.7565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1352.7818088502745, + -763.7565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1349.7818088502745, + -763.7565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1346.7818088502745, + -763.7565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1343.7818088502745, + -763.7565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1340.7818088502745, + -763.7565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1337.7818088502745, + -763.7565705020716, + 62.31584284106675 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1337.7818088502745, + -763.7565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1335.1837326389211, + -765.2565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1332.5856564275678, + -766.7565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1329.9875802162144, + -768.2565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1327.389504004861, + -769.7565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1324.7914277935076, + -771.2565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1322.1933515821543, + -772.7565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1319.595275370801, + -774.2565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1316.9971991594475, + -775.7565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1314.3991229480941, + -777.2565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1311.8010467367408, + -778.7565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1309.2029705253874, + -780.2565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1306.604894314034, + -781.7565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1304.0068181026807, + -783.2565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1301.4087418913273, + -784.7565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1298.810665679974, + -786.2565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1296.2125894686205, + -787.7565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1293.6145132572672, + -789.2565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1291.0164370459138, + -790.7565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1288.4183608345604, + -792.2565705020716, + 62.31584284106675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1285.820284623207, + -793.7565705020716, + 62.31584284106675 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1244.0, + -816.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-44-59_1736709428/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-44-59_1736709428/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bf6ad8be8b838e1bfc852cb62478c790c327d9d6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-44-59_1736709428/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -301.55674203303926, + 1541.1933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -304.1548182443926, + 1542.6933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -306.7528944557459, + 1544.1933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -309.3509706670992, + 1545.6933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -311.9490468784525, + 1547.1933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -314.54712308980584, + 1548.6933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -317.14519930115915, + 1550.1933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -319.74327551251247, + 1551.6933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -322.3413517238658, + 1553.1933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -324.9394279352191, + 1554.6933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -327.5375041465724, + 1556.1933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -330.13558035792573, + 1557.6933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -332.73365656927905, + 1559.1933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -335.33173278063236, + 1560.6933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -337.9298089919857, + 1562.1933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -340.527885203339, + 1563.6933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -343.1259614146923, + 1565.1933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -345.72403762604563, + 1566.6933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -348.32211383739894, + 1568.1933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -350.92019004875226, + 1569.6933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -353.5182662601056, + 1571.1933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -356.1163424714589, + 1572.6933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -358.7144186828122, + 1574.1933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -361.3124948941655, + 1575.6933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -363.91057110551884, + 1577.1933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -366.50864731687216, + 1578.6933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -369.1067235282255, + 1580.1933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -371.7047997395788, + 1581.6933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -374.3028759509321, + 1583.1933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -376.9009521622854, + 1584.6933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -379.49902837363874, + 1586.1933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -382.09710458499205, + 1587.6933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -384.69518079634537, + 1589.1933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -387.2932570076987, + 1590.6933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -389.891333219052, + 1592.1933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -392.4894094304053, + 1593.6933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -395.08748564175863, + 1595.1933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -397.68556185311195, + 1596.6933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -400.28363806446526, + 1598.1933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -402.8817142758186, + 1599.6933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -405.4797904871719, + 1601.1933688334252, + 48.92344329077701 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -405.4797904871719, + 1601.1933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -408.4797904871719, + 1601.1933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -411.4797904871719, + 1601.1933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -414.4797904871719, + 1601.1933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -417.4797904871719, + 1601.1933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -420.4797904871719, + 1601.1933688334252, + 48.92344329077701 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -423.4797904871719, + 1601.1933688334252, + 48.92344329077701 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -456.0, + 1620.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-52-21_541639838/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-52-21_541639838/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..802e7183f19d1bcf3307da097ac790beaa843316 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-52-21_541639838/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -586.7253717472059, + -1365.4413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -583.7253717472059, + -1365.4413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -580.7253717472059, + -1365.4413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -577.7253717472059, + -1365.4413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -574.7253717472059, + -1365.4413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -571.7253717472059, + -1365.4413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -568.7253717472059, + -1365.4413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -565.7253717472059, + -1365.4413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -562.7253717472059, + -1365.4413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -559.7253717472059, + -1365.4413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -556.7253717472059, + -1365.4413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -553.7253717472059, + -1365.4413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -550.7253717472059, + -1365.4413023594632, + 40.19718596774769 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -550.7253717472059, + -1365.4413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -548.1272955358527, + -1366.9413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -545.5292193244993, + -1368.4413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -542.9311431131459, + -1369.9413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -540.3330669017926, + -1371.4413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -537.7349906904392, + -1372.9413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -535.1369144790858, + -1374.4413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -532.5388382677324, + -1375.9413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -529.9407620563791, + -1377.4413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -527.3426858450257, + -1378.9413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -524.7446096336723, + -1380.4413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -522.146533422319, + -1381.9413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -519.5484572109656, + -1383.4413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -516.9503809996122, + -1384.9413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -514.3523047882588, + -1386.4413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -511.7542285769055, + -1387.9413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -509.1561523655522, + -1389.4413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -506.5580761541989, + -1390.9413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -503.95999994284557, + -1392.4413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -501.36192373149225, + -1393.9413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -498.76384752013894, + -1395.4413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -496.1657713087856, + -1396.9413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -493.5676950974323, + -1398.4413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -490.969618886079, + -1399.9413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -488.3715426747257, + -1401.4413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -485.77346646337236, + -1402.9413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -483.17539025201904, + -1404.4413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -480.5773140406657, + -1405.9413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -477.9792378293124, + -1407.4413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -475.3811616179591, + -1408.9413023594632, + 40.19718596774769 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -475.3811616179591, + -1408.9413023594632, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -473.8811616179591, + -1411.5393785708166, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -472.3811616179591, + -1414.13745478217, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -470.8811616179591, + -1416.7355309935233, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -469.3811616179591, + -1419.3336072048767, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -467.8811616179591, + -1421.93168341623, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -466.3811616179591, + -1424.5297596275834, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -464.8811616179591, + -1427.1278358389368, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -463.3811616179591, + -1429.7259120502902, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -461.8811616179591, + -1432.3239882616435, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -460.3811616179591, + -1434.922064472997, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -458.8811616179591, + -1437.5201406843503, + 40.19718596774769 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -458.8811616179591, + -1437.5201406843503, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -458.8811616179591, + -1440.5201406843503, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -458.8811616179591, + -1443.5201406843503, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -458.8811616179591, + -1446.5201406843503, + 40.19718596774769 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -458.8811616179591, + -1446.5201406843503, + 40.19718596774769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -457.3811616179591, + -1449.1182168957037, + 40.19718596774769 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -444.0, + -1460.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-58-20_1250822806/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-58-20_1250822806/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4400600caab9f6f0ecb90c1731aaab34286f7dd9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_18-58-20_1250822806/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -165.8315679213742, + 1760.8089213913743, + 62.313241798055415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -167.3315679213742, + 1763.4069976027276, + 62.313241798055415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -168.8315679213742, + 1766.005073814081, + 62.313241798055415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -170.3315679213742, + 1768.6031500254344, + 62.313241798055415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -171.8315679213742, + 1771.2012262367878, + 62.313241798055415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -173.3315679213742, + 1773.7993024481411, + 62.313241798055415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -174.8315679213742, + 1776.3973786594945, + 62.313241798055415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -176.3315679213742, + 1778.9954548708479, + 62.313241798055415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -177.8315679213742, + 1781.5935310822013, + 62.313241798055415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -179.3315679213742, + 1784.1916072935546, + 62.313241798055415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -180.8315679213742, + 1786.789683504908, + 62.313241798055415 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -180.8315679213742, + 1786.789683504908, + 62.313241798055415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -183.4296441327275, + 1788.289683504908, + 62.313241798055415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -186.02772034408082, + 1789.789683504908, + 62.313241798055415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -188.62579655543414, + 1791.289683504908, + 62.313241798055415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -191.22387276678745, + 1792.789683504908, + 62.313241798055415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -193.82194897814077, + 1794.289683504908, + 62.313241798055415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -196.42002518949408, + 1795.789683504908, + 62.313241798055415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -199.0181014008474, + 1797.289683504908, + 62.313241798055415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -201.61617761220072, + 1798.789683504908, + 62.313241798055415 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -276.0, + 1876.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-1-25_2055988922/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-1-25_2055988922/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..58ac7319017b0f64b00bd554961106221573e914 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-1-25_2055988922/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1721.3689887205232, + -564.3936330816686, + 49.81443736156022 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1724.3689887205232, + -564.3936330816686, + 49.81443736156022 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1727.3689887205232, + -564.3936330816686, + 49.81443736156022 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1730.3689887205232, + -564.3936330816686, + 49.81443736156022 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1733.3689887205232, + -564.3936330816686, + 49.81443736156022 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1736.3689887205232, + -564.3936330816686, + 49.81443736156022 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1739.3689887205232, + -564.3936330816686, + 49.81443736156022 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1739.3689887205232, + -564.3936330816686, + 49.81443736156022 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1741.9670649318766, + -562.8936330816686, + 49.81443736156022 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1744.56514114323, + -561.3936330816686, + 49.81443736156022 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1747.1632173545834, + -559.8936330816686, + 49.81443736156022 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1876.0, + -536.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-12-59_1699219986/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-12-59_1699219986/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8ffe7a8ce98cca2e87cfdff3b4e5f2129547ffca --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-12-59_1699219986/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -858.9654737782491, + 1729.891587431765, + 42.788137826627995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -860.4654737782491, + 1732.4896636431183, + 42.788137826627995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -861.9654737782491, + 1735.0877398544717, + 42.788137826627995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -863.4654737782491, + 1737.685816065825, + 42.788137826627995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -864.9654737782491, + 1740.2838922771784, + 42.788137826627995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -866.4654737782491, + 1742.8819684885318, + 42.788137826627995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -867.9654737782491, + 1745.4800446998852, + 42.788137826627995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -869.4654737782491, + 1748.0781209112386, + 42.788137826627995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -870.9654737782491, + 1750.676197122592, + 42.788137826627995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -872.4654737782491, + 1753.2742733339453, + 42.788137826627995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -873.9654737782491, + 1755.8723495452987, + 42.788137826627995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -875.4654737782491, + 1758.470425756652, + 42.788137826627995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -876.9654737782491, + 1761.0685019680054, + 42.788137826627995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -878.4654737782491, + 1763.6665781793588, + 42.788137826627995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -879.9654737782491, + 1766.2646543907122, + 42.788137826627995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -881.4654737782491, + 1768.8627306020655, + 42.788137826627995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -882.9654737782491, + 1771.460806813419, + 42.788137826627995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -884.4654737782491, + 1774.0588830247723, + 42.788137826627995 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -884.4654737782491, + 1774.0588830247723, + 42.788137826627995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -887.0635499896025, + 1775.5588830247723, + 42.788137826627995 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -887.0635499896025, + 1775.5588830247723, + 42.788137826627995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -888.5635499896025, + 1778.1569592361257, + 42.788137826627995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -890.0635499896025, + 1780.755035447479, + 42.788137826627995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -891.5635499896025, + 1783.3531116588324, + 42.788137826627995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -893.0635499896025, + 1785.9511878701858, + 42.788137826627995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -894.5635499896025, + 1788.5492640815391, + 42.788137826627995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -896.0635499896025, + 1791.1473402928925, + 42.788137826627995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -897.5635499896025, + 1793.745416504246, + 42.788137826627995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -899.0635499896025, + 1796.3434927155993, + 42.788137826627995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -900.5635499896025, + 1798.9415689269526, + 42.788137826627995 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -944.0, + 1868.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-19-32_1198948480/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-19-32_1198948480/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3ddd2e7b813afbd2596132f82b0d335434498c71 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-19-32_1198948480/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1419.238461088627, + 1009.2152596263079, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1416.6403848772736, + 1010.7152596263079, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1414.0423086659202, + 1012.2152596263079, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1411.4442324545669, + 1013.7152596263079, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1408.8461562432135, + 1015.2152596263079, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1406.2480800318601, + 1016.7152596263079, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1403.6500038205068, + 1018.2152596263079, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1401.0519276091534, + 1019.7152596263079, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1398.4538513978, + 1021.2152596263079, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1395.8557751864466, + 1022.7152596263079, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1393.2576989750933, + 1024.215259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1390.65962276374, + 1025.715259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1388.0615465523865, + 1027.215259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1385.4634703410331, + 1028.715259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1382.8653941296798, + 1030.215259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1380.2673179183264, + 1031.715259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1377.669241706973, + 1033.215259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1375.0711654956197, + 1034.715259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1372.4730892842663, + 1036.215259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1369.875013072913, + 1037.715259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1367.2769368615595, + 1039.215259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1364.6788606502062, + 1040.715259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1362.0807844388528, + 1042.215259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1359.4827082274994, + 1043.715259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1356.884632016146, + 1045.215259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1354.2865558047927, + 1046.715259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1351.6884795934393, + 1048.215259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1349.090403382086, + 1049.715259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1346.4923271707326, + 1051.215259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1343.8942509593792, + 1052.715259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1341.2961747480258, + 1054.215259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1338.6980985366724, + 1055.715259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1336.100022325319, + 1057.215259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1333.5019461139657, + 1058.715259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1330.9038699026123, + 1060.215259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1328.305793691259, + 1061.715259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1325.7077174799056, + 1063.215259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1323.1096412685522, + 1064.715259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1320.5115650571988, + 1066.215259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1317.9134888458454, + 1067.715259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1315.315412634492, + 1069.215259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1312.7173364231387, + 1070.715259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1310.1192602117853, + 1072.215259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1307.521184000432, + 1073.715259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1304.9231077890786, + 1075.215259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1302.3250315777252, + 1076.715259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1299.7269553663718, + 1078.215259626308, + 52.44654507400258 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1299.7269553663718, + 1078.215259626308, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1298.2269553663718, + 1080.8133358376613, + 52.44654507400258 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1296.7269553663718, + 1083.4114120490146, + 52.44654507400258 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1276.0, + 1096.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-3-41_845318908/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-3-41_845318908/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..75ba1916c823556c470a6c2b33f2cb6166fc5f00 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-3-41_845318908/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 7.088257812408358, + -196.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 7.088257812408358, + -193.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 7.088257812408358, + -190.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 7.088257812408358, + -187.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 7.088257812408358, + -184.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 7.088257812408358, + -181.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 7.088257812408358, + -178.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 7.088257812408358, + -175.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 7.088257812408358, + -172.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 7.088257812408358, + -169.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 7.088257812408358, + -166.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 7.088257812408358, + -163.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 7.088257812408358, + -160.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 7.088257812408358, + -157.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 7.088257812408358, + -154.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 7.088257812408358, + -151.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 7.088257812408358, + -148.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 7.088257812408358, + -145.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 7.088257812408358, + -142.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 7.088257812408358, + -139.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 7.088257812408358, + -136.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 7.088257812408358, + -133.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 7.088257812408358, + -130.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 7.088257812408358, + -127.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 7.088257812408358, + -124.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 7.088257812408358, + -121.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 7.088257812408358, + -118.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 7.088257812408358, + -115.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 7.088257812408358, + -112.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 7.088257812408358, + -109.33633905320218, + 45.31366550832323 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 7.088257812408358, + -109.33633905320218, + 45.31366550832323 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 7.088257812408358, + -109.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4.490181601055042, + -107.83633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1.892105389701726, + -106.33633905320218, + 45.31366550832323 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1.892105389701726, + -106.33633905320218, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 0.3921053897017266, + -103.73826284184887, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1.1078946102982727, + -101.14018663049555, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2.6078946102982723, + -98.54211041914223, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -4.107894610298271, + -95.94403420778892, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -5.6078946102982705, + -93.3459579964356, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -7.10789461029827, + -90.74788178508228, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -8.607894610298269, + -88.14980557372897, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -10.107894610298269, + -85.55172936237565, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -11.607894610298269, + -82.95365315102234, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -13.107894610298269, + -80.35557693966902, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -14.607894610298269, + -77.7575007283157, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -16.107894610298267, + -75.15942451696239, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393195 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -17.607894610298267, + -72.56134830560907, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -19.107894610298267, + -69.96327209425576, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -20.607894610298267, + -67.36519588290244, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -22.107894610298267, + -64.76711967154912, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -23.607894610298267, + -62.16904346019581, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -25.107894610298267, + -59.57096724884249, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -26.607894610298267, + -56.97289103748918, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -28.107894610298267, + -54.37481482613586, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -29.607894610298267, + -51.776738614782545, + 45.31366550832323 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -31.107894610298267, + -49.17866240342923, + 45.31366550832323 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -36.0, + -28.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-53-21_335635625/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-53-21_335635625/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7749ca9b8a4da9a390e300699a63547a345a8766 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-53-21_335635625/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1737.322113433024, + 1669.260747163428, + 50.69565368606835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1740.322113433024, + 1669.260747163428, + 50.69565368606835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1743.322113433024, + 1669.260747163428, + 50.69565368606835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1746.322113433024, + 1669.260747163428, + 50.69565368606835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1749.322113433024, + 1669.260747163428, + 50.69565368606835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1752.322113433024, + 1669.260747163428, + 50.69565368606835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1755.322113433024, + 1669.260747163428, + 50.69565368606835 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1755.322113433024, + 1669.260747163428, + 50.69565368606835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1757.9201896443774, + 1670.760747163428, + 50.69565368606835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1760.5182658557308, + 1672.260747163428, + 50.69565368606835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1763.1163420670841, + 1673.760747163428, + 50.69565368606835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1765.7144182784375, + 1675.260747163428, + 50.69565368606835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1768.3124944897909, + 1676.760747163428, + 50.69565368606835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1770.9105707011443, + 1678.260747163428, + 50.69565368606835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1773.5086469124976, + 1679.760747163428, + 50.69565368606835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1776.106723123851, + 1681.260747163428, + 50.69565368606835 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1896.0, + 1724.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-8-25_1307510076/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-8-25_1307510076/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b18ec20cd7f7ec7985daf38941fb374b3e67b75 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_19-8-25_1307510076/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -143.15148539966117, + -129.8199533782432, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -144.65148539966117, + -127.2218771668899, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -146.15148539966117, + -124.62380095553658, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -147.65148539966117, + -122.02572474418326, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -149.15148539966117, + -119.42764853282995, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -150.65148539966117, + -116.82957232147663, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -152.15148539966117, + -114.23149611012332, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -153.65148539966117, + -111.63341989877, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -155.15148539966117, + -109.03534368741668, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -156.65148539966117, + -106.43726747606337, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -158.15148539966117, + -103.83919126471005, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -159.65148539966117, + -101.24111505335674, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -161.15148539966117, + -98.64303884200342, + 49.3735324641252 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -161.15148539966117, + -98.64303884200342, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -161.15148539966117, + -95.64303884200342, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -161.15148539966117, + -92.64303884200342, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -161.15148539966117, + -89.64303884200342, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -161.15148539966117, + -86.64303884200342, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -161.15148539966117, + -83.64303884200342, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -161.15148539966117, + -80.64303884200342, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -161.15148539966117, + -77.64303884200342, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -161.15148539966117, + -74.64303884200342, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -161.15148539966117, + -71.64303884200342, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -161.15148539966117, + -68.64303884200342, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -161.15148539966117, + -65.64303884200342, + 49.3735324641252 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -161.15148539966117, + -65.64303884200342, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -162.65148539966117, + -63.044962630650105, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -164.15148539966117, + -60.44688641929679, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -165.65148539966117, + -57.84881020794347, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -167.15148539966117, + -55.25073399659016, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -168.65148539966117, + -52.65265778523684, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -170.15148539966117, + -50.054581573883524, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -171.65148539966117, + -47.45650536253021, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -173.15148539966117, + -44.85842915117689, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -174.65148539966117, + -42.260352939823576, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -176.15148539966117, + -39.66227672847026, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -177.65148539966117, + -37.064200517116944, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -179.15148539966117, + -34.46612430576363, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -180.65148539966117, + -31.868048094410312, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -182.15148539966117, + -29.269971883056996, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -183.65148539966117, + -26.67189567170368, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -185.15148539966117, + -24.073819460350364, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -186.65148539966117, + -21.47574324899705, + 49.3735324641252 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -186.65148539966117, + -21.47574324899705, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -186.65148539966117, + -18.47574324899705, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -186.65148539966117, + -15.475743248997048, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -186.65148539966117, + -12.475743248997048, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -186.65148539966117, + -9.475743248997048, + 49.3735324641252 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -186.65148539966117, + -6.475743248997048, + 49.3735324641252 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -196.0, + 28.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-15-52_1562887660/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-15-52_1562887660/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d7c22ba3d40e9bbde19efd34f60c2a91b52b76a4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-15-52_1562887660/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1537.2545048896723, + -1434.5682936978217, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1537.2545048896723, + -1431.5682936978217, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1537.2545048896723, + -1428.5682936978217, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1537.2545048896723, + -1425.5682936978217, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1537.2545048896723, + -1422.5682936978217, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1537.2545048896723, + -1419.5682936978217, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1537.2545048896723, + -1416.5682936978217, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1537.2545048896723, + -1413.5682936978217, + 67.24355437604433 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1537.2545048896723, + -1413.5682936978217, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1535.7545048896723, + -1410.9702174864683, + 67.24355437604433 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1535.7545048896723, + -1410.9702174864683, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1535.7545048896723, + -1407.9702174864683, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1535.7545048896723, + -1404.9702174864683, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1535.7545048896723, + -1401.9702174864683, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1535.7545048896723, + -1398.9702174864683, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1535.7545048896723, + -1395.9702174864683, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1535.7545048896723, + -1392.9702174864683, + 67.24355437604433 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1535.7545048896723, + -1392.9702174864683, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1537.2545048896723, + -1390.372141275115, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1538.7545048896723, + -1387.7740650637616, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1540.2545048896723, + -1385.1759888524082, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1541.7545048896723, + -1382.5779126410548, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1543.2545048896723, + -1379.9798364297014, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1544.7545048896723, + -1377.381760218348, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1546.2545048896723, + -1374.7836840069947, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1547.7545048896723, + -1372.1856077956413, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1549.2545048896723, + -1369.587531584288, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1550.7545048896723, + -1366.9894553729346, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1552.2545048896723, + -1364.3913791615812, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1553.7545048896723, + -1361.7933029502278, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1555.2545048896723, + -1359.1952267388745, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1556.7545048896723, + -1356.597150527521, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1558.2545048896723, + -1353.9990743161677, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1559.7545048896723, + -1351.4009981048143, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1561.2545048896723, + -1348.802921893461, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1562.7545048896723, + -1346.2048456821076, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1564.2545048896723, + -1343.6067694707542, + 67.24355437604433 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1564.2545048896723, + -1343.6067694707542, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1566.8525811010256, + -1342.1067694707542, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1569.450657312379, + -1340.6067694707542, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1572.0487335237324, + -1339.1067694707542, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1574.6468097350858, + -1337.6067694707542, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1577.2448859464391, + -1336.1067694707542, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1579.8429621577925, + -1334.6067694707542, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1582.4410383691459, + -1333.1067694707542, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1585.0391145804992, + -1331.6067694707542, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1587.6371907918526, + -1330.1067694707542, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1590.235267003206, + -1328.6067694707542, + 67.24355437604433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1592.8333432145594, + -1327.1067694707542, + 67.24355437604433 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1608.0, + -1292.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-16-49_1401422376/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-16-49_1401422376/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a50111698cce8df576339447c4dbd7fbaf4fb9f5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-16-49_1401422376/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1330.521723936884, + -1531.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1327.521723936884, + -1531.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1324.521723936884, + -1531.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1321.521723936884, + -1531.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1318.521723936884, + -1531.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1315.521723936884, + -1531.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1312.521723936884, + -1531.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1309.521723936884, + -1531.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1306.521723936884, + -1531.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1303.521723936884, + -1531.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1300.521723936884, + -1531.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1297.521723936884, + -1531.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1294.521723936884, + -1531.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1291.521723936884, + -1531.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1288.521723936884, + -1531.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1285.521723936884, + -1531.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1282.521723936884, + -1531.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1279.521723936884, + -1531.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1276.521723936884, + -1531.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1273.521723936884, + -1531.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1270.521723936884, + -1531.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1267.521723936884, + -1531.18371007444, + 62.18484447320901 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1267.521723936884, + -1531.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1264.9236477255306, + -1529.68371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1262.3255715141772, + -1528.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1259.7274953028239, + -1526.68371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1257.1294190914705, + -1525.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1254.531342880117, + -1523.68371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1251.9332666687637, + -1522.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1249.3351904574104, + -1520.68371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1246.737114246057, + -1519.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1244.1390380347036, + -1517.68371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1241.5409618233502, + -1516.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1238.9428856119969, + -1514.68371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1236.3448094006435, + -1513.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1233.7467331892901, + -1511.68371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1231.1486569779368, + -1510.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1228.5505807665834, + -1508.68371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1225.95250455523, + -1507.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1223.3544283438766, + -1505.68371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1220.7563521325233, + -1504.18371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1218.15827592117, + -1502.68371007444, + 62.18484447320901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1215.5601997098165, + -1501.18371007444, + 62.18484447320901 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1180.0, + -1492.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-24-46_242639747/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-24-46_242639747/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b9bf214b565c6a1692436871877a6e43cf4b964f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-24-46_242639747/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1702.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1699.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1696.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1693.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1690.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1687.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1684.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1681.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1678.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1675.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1672.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1669.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1666.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1663.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1660.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1657.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1654.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1651.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1648.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1645.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1642.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1639.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1636.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1633.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1630.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1627.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1624.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1621.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1618.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1615.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1612.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1609.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1606.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1603.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1600.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1597.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1597.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1597.177391422365, + 968.9400363484505, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1595.677391422365, + 971.5381125598037, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1594.177391422365, + 974.1361887711571, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1592.677391422365, + 976.7342649825105, + 66.79826119780938 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1592.677391422365, + 976.7342649825105, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1590.0793152110116, + 978.2342649825105, + 66.79826119780938 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1587.4812389996582, + 979.7342649825105, + 66.79826119780938 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1552.0, + 984.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-40-7_1386214636/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-40-7_1386214636/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..82d324ec6cf9029d038311569b7db003760c0659 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_2-40-7_1386214636/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1786.7018762424186, + -1053.046325681811, + 67.74482518617924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1789.7018762424186, + -1053.046325681811, + 67.74482518617924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1792.7018762424186, + -1053.046325681811, + 67.74482518617924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1795.7018762424186, + -1053.046325681811, + 67.74482518617924 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1798.7018762424186, + -1053.046325681811, + 67.74482518617924 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1956.0, + -1024.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-0-59_1170023078/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-0-59_1170023078/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b2f38038d65ae722cd46331ab38037dd9e233561 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-0-59_1170023078/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1683.5152314034908, + 1014.5269176528411, + 51.306417111096906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1686.1133076148442, + 1016.0269176528411, + 51.306417111096906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1688.7113838261976, + 1017.5269176528411, + 51.306417111096906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1691.309460037551, + 1019.0269176528411, + 51.306417111096906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1693.9075362489043, + 1020.5269176528411, + 51.306417111096906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1696.5056124602577, + 1022.0269176528411, + 51.306417111096906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1699.103688671611, + 1023.5269176528411, + 51.306417111096906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1701.7017648829644, + 1025.0269176528411, + 51.306417111096906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1704.2998410943178, + 1026.5269176528411, + 51.306417111096906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1706.8979173056712, + 1028.0269176528411, + 51.306417111096906 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1709.4959935170245, + 1029.5269176528411, + 51.306417111096906 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1709.4959935170245, + 1029.5269176528411, + 51.306417111096906 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1712.4959935170245, + 1029.5269176528411, + 51.306417111096906 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1715.4959935170245, + 1029.5269176528411, + 51.306417111096906 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1840.0, + 1076.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-19-43_1409822860/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-19-43_1409822860/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5d11859775b454cac20cbc897d9f1cd73ca269c9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-19-43_1409822860/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1663.983040138399, + 761.5443670290599, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1665.483040138399, + 764.1424432404133, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1666.983040138399, + 766.7405194517667, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1668.483040138399, + 769.33859566312, + 44.001255057052155 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1668.483040138399, + 769.33859566312, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1671.0811163497524, + 770.83859566312, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1673.6791925611058, + 772.33859566312, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1676.2772687724591, + 773.83859566312, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1678.8753449838125, + 775.33859566312, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1681.4734211951659, + 776.83859566312, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1684.0714974065193, + 778.33859566312, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1686.6695736178726, + 779.83859566312, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1689.267649829226, + 781.33859566312, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1691.8657260405794, + 782.83859566312, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1694.4638022519327, + 784.33859566312, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1697.0618784632861, + 785.83859566312, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1699.6599546746395, + 787.33859566312, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1702.2580308859929, + 788.83859566312, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1704.8561070973462, + 790.33859566312, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1707.4541833086996, + 791.83859566312, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1710.052259520053, + 793.33859566312, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1712.6503357314064, + 794.83859566312, + 44.001255057052155 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1712.6503357314064, + 794.83859566312, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1714.1503357314064, + 797.4366718744734, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1715.6503357314064, + 800.0347480858268, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1717.1503357314064, + 802.6328242971802, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1718.6503357314064, + 805.2309005085335, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1720.1503357314064, + 807.8289767198869, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1721.6503357314064, + 810.4270529312403, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1723.1503357314064, + 813.0251291425936, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1724.6503357314064, + 815.623205353947, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1726.1503357314064, + 818.2212815653004, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1727.6503357314064, + 820.8193577766538, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1729.1503357314064, + 823.4174339880071, + 44.001255057052155 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1729.1503357314064, + 823.4174339880071, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1729.1503357314064, + 826.4174339880071, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1729.1503357314064, + 829.4174339880071, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1729.1503357314064, + 832.4174339880071, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1729.1503357314064, + 835.4174339880071, + 44.001255057052155 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1729.1503357314064, + 838.4174339880071, + 44.001255057052155 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1772.0, + 892.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-57-26_2015196827/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-57-26_2015196827/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..62b797ea4f36e4cf326321dac9a4060aac1868aa --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-57-26_2015196827/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1754.9200774036306, + -1778.599392137134, + 61.26796600818691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1757.9200774036306, + -1778.599392137134, + 61.26796600818691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1760.9200774036306, + -1778.599392137134, + 61.26796600818691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1763.9200774036306, + -1778.599392137134, + 61.26796600818691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1766.9200774036306, + -1778.599392137134, + 61.26796600818691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1769.9200774036306, + -1778.599392137134, + 61.26796600818691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1772.9200774036306, + -1778.599392137134, + 61.26796600818691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1775.9200774036306, + -1778.599392137134, + 61.26796600818691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1778.9200774036306, + -1778.599392137134, + 61.26796600818691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1781.9200774036306, + -1778.599392137134, + 61.26796600818691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1784.9200774036306, + -1778.599392137134, + 61.26796600818691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1787.9200774036306, + -1778.599392137134, + 61.26796600818691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1790.9200774036306, + -1778.599392137134, + 61.26796600818691 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1790.9200774036306, + -1778.599392137134, + 61.26796600818691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1793.518153614984, + -1777.099392137134, + 61.26796600818691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1796.1162298263373, + -1775.599392137134, + 61.26796600818691 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1798.7143060376907, + -1774.099392137134, + 61.26796600818691 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1920.0, + -1752.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-9-46_1389665131/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-9-46_1389665131/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a14331618e1c7906aa777eb8db0940adbb420c6b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_20-9-46_1389665131/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1334.5358360974444, + -953.2901425679448, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1333.0358360974444, + -950.6920663565916, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1331.5358360974444, + -948.0939901452382, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1330.0358360974444, + -945.4959139338848, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1328.5358360974444, + -942.8978377225314, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1327.0358360974444, + -940.2997615111781, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1325.5358360974444, + -937.7016852998247, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1324.0358360974444, + -935.1036090884713, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1322.5358360974444, + -932.505532877118, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1321.0358360974444, + -929.9074566657646, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1319.5358360974444, + -927.3093804544112, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1318.0358360974444, + -924.7113042430578, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1316.5358360974444, + -922.1132280317045, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1315.0358360974444, + -919.5151518203511, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1313.5358360974444, + -916.9170756089977, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1312.0358360974444, + -914.3189993976443, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1310.5358360974444, + -911.720923186291, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1309.0358360974444, + -909.1228469749376, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1307.5358360974444, + -906.5247707635842, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1306.0358360974444, + -903.9266945522309, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1304.5358360974444, + -901.3286183408775, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1303.0358360974444, + -898.7305421295241, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1301.5358360974444, + -896.1324659181707, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1300.0358360974444, + -893.5343897068174, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1298.5358360974444, + -890.936313495464, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1297.0358360974444, + -888.3382372841106, + 56.79736941699082 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1297.0358360974444, + -888.3382372841106, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1297.0358360974444, + -885.3382372841106, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1297.0358360974444, + -882.3382372841106, + 56.79736941699082 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1297.0358360974444, + -882.3382372841106, + 56.79736941699082 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1297.0358360974444, + -882.3382372841106, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1294.437759886091, + -880.8382372841106, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1291.8396836747377, + -879.3382372841106, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1289.2416074633843, + -877.8382372841106, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1286.643531252031, + -876.3382372841106, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1284.0454550406776, + -874.8382372841106, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1281.4473788293242, + -873.3382372841106, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1278.8493026179708, + -871.8382372841106, + 56.79736941699082 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1278.8493026179708, + -871.8382372841106, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1277.3493026179708, + -869.2401610727572, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1275.8493026179708, + -866.6420848614039, + 56.79736941699082 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1274.3493026179708, + -864.0440086500505, + 56.79736941699082 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1244.0, + -816.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-12-23_901482438/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-12-23_901482438/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..59df172f68dc8df2750a23968a5d532abd08ec43 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-12-23_901482438/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -699.0798899293895, + -1410.649988701768, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -696.4818137180362, + -1412.149988701768, + 67.4473275168458 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -696.4818137180362, + -1412.149988701768, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -694.9818137180362, + -1414.7480649131214, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -693.4818137180362, + -1417.3461411244748, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -691.9818137180362, + -1419.9442173358282, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -690.4818137180362, + -1422.5422935471815, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -688.9818137180362, + -1425.140369758535, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -687.4818137180362, + -1427.7384459698883, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -685.9818137180362, + -1430.3365221812417, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -684.4818137180362, + -1432.934598392595, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -682.9818137180362, + -1435.5326746039484, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -681.4818137180362, + -1438.1307508153018, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -679.9818137180362, + -1440.7288270266552, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -678.4818137180362, + -1443.3269032380085, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -676.9818137180362, + -1445.924979449362, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -675.4818137180362, + -1448.5230556607153, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -673.9818137180362, + -1451.1211318720686, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -672.4818137180362, + -1453.719208083422, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -670.9818137180362, + -1456.3172842947754, + 67.4473275168458 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -670.9818137180362, + -1456.3172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -668.3837375066828, + -1457.8172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -665.7856612953294, + -1459.3172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -663.187585083976, + -1460.8172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -660.5895088726227, + -1462.3172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -657.9914326612693, + -1463.8172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -655.3933564499159, + -1465.3172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -652.7952802385626, + -1466.8172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -650.1972040272092, + -1468.3172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -647.5991278158558, + -1469.8172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -645.0010516045024, + -1471.3172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -642.4029753931491, + -1472.8172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -639.8048991817957, + -1474.3172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -637.2068229704423, + -1475.8172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -634.608746759089, + -1477.3172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -632.0106705477356, + -1478.8172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -629.4125943363822, + -1480.3172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -626.8145181250288, + -1481.8172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -624.2164419136755, + -1483.3172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -621.6183657023221, + -1484.8172842947754, + 67.4473275168458 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -621.6183657023221, + -1484.8172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -618.6183657023221, + -1484.8172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -615.6183657023221, + -1484.8172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -612.6183657023221, + -1484.8172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -609.6183657023221, + -1484.8172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -606.6183657023221, + -1484.8172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -603.6183657023221, + -1484.8172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -600.6183657023221, + -1484.8172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -597.6183657023221, + -1484.8172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -594.6183657023221, + -1484.8172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -591.6183657023221, + -1484.8172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -588.6183657023221, + -1484.8172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -585.6183657023221, + -1484.8172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -582.6183657023221, + -1484.8172842947754, + 67.4473275168458 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -579.6183657023221, + -1484.8172842947754, + 67.4473275168458 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -560.0, + -1496.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-23-35_830921752/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-23-35_830921752/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..10c9837e6b2d7738ffdba024994404d65f173956 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_21-23-35_830921752/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1608.4294351132507, + 1486.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1608.4294351132507, + 1489.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1608.4294351132507, + 1492.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1608.4294351132507, + 1495.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1608.4294351132507, + 1498.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1608.4294351132507, + 1501.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1608.4294351132507, + 1504.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1608.4294351132507, + 1507.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1608.4294351132507, + 1510.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1608.4294351132507, + 1513.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1608.4294351132507, + 1516.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1608.4294351132507, + 1519.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1608.4294351132507, + 1522.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1608.4294351132507, + 1525.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1608.4294351132507, + 1528.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1608.4294351132507, + 1531.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1608.4294351132507, + 1534.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1608.4294351132507, + 1537.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1608.4294351132507, + 1540.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1608.4294351132507, + 1543.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1608.4294351132507, + 1546.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1608.4294351132507, + 1549.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1608.4294351132507, + 1552.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1608.4294351132507, + 1555.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1608.4294351132507, + 1558.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1608.4294351132507, + 1561.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1608.4294351132507, + 1564.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1608.4294351132507, + 1567.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1608.4294351132507, + 1570.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1608.4294351132507, + 1573.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1608.4294351132507, + 1576.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1608.4294351132507, + 1579.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1608.4294351132507, + 1582.9543118347817, + 47.239673707205675 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1608.4294351132507, + 1582.9543118347817, + 47.239673707205675 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1608.4294351132507, + 1582.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1611.0275113246041, + 1584.4543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1613.6255875359575, + 1585.9543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1616.2236637473109, + 1587.4543118347817, + 47.239673707205675 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1616.2236637473109, + 1587.4543118347817, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1617.7236637473109, + 1590.052388046135, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1619.2236637473109, + 1592.6504642574885, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1620.7236637473109, + 1595.2485404688418, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1622.2236637473109, + 1597.8466166801952, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1623.7236637473109, + 1600.4446928915486, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1625.2236637473109, + 1603.042769102902, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1626.7236637473109, + 1605.6408453142553, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1628.2236637473109, + 1608.2389215256087, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1629.7236637473109, + 1610.836997736962, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1631.2236637473109, + 1613.4350739483154, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1632.7236637473109, + 1616.0331501596688, + 47.239673707205675 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1632.7236637473109, + 1616.0331501596688, + 47.239673707205675 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1632.7236637473109, + 1619.0331501596688, + 47.239673707205675 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948872 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1636.0, + 1640.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-21-36_571333576/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-21-36_571333576/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b76f102ada22a2db2f7380c23b484cc6ea3ab18 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-21-36_571333576/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -91.51088390272125, + 1755.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -94.10896011407456, + 1756.940257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -96.70703632542788, + 1758.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -99.3051125367812, + 1759.940257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -101.90318874813451, + 1761.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -104.50126495948783, + 1762.940257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -107.09934117084114, + 1764.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -109.69741738219446, + 1765.940257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -112.29549359354777, + 1767.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -114.89356980490109, + 1768.940257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -117.4916460162544, + 1770.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -120.08972222760772, + 1771.940257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -122.68779843896104, + 1773.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -125.28587465031435, + 1774.940257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -127.88395086166767, + 1776.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -130.482027073021, + 1777.940257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -133.0801032843743, + 1779.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -135.67817949572762, + 1780.940257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -138.27625570708094, + 1782.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -140.87433191843425, + 1783.940257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -143.47240812978757, + 1785.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -146.07048434114088, + 1786.940257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -148.6685605524942, + 1788.440257605414, + 48.371671941822584 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -148.6685605524942, + 1788.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -151.6685605524942, + 1788.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -154.6685605524942, + 1788.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -157.6685605524942, + 1788.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -160.6685605524942, + 1788.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -163.6685605524942, + 1788.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -166.6685605524942, + 1788.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -169.6685605524942, + 1788.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -172.6685605524942, + 1788.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -175.6685605524942, + 1788.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -178.6685605524942, + 1788.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -181.6685605524942, + 1788.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -184.6685605524942, + 1788.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -187.6685605524942, + 1788.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -190.6685605524942, + 1788.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -193.6685605524942, + 1788.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -196.6685605524942, + 1788.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -199.6685605524942, + 1788.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -202.6685605524942, + 1788.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -205.6685605524942, + 1788.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -208.6685605524942, + 1788.440257605414, + 48.371671941822584 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -208.6685605524942, + 1788.440257605414, + 48.371671941822584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -211.26663676384752, + 1789.940257605414, + 48.371671941822584 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -260.0, + 1804.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-35-1_892403529/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-35-1_892403529/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4d442e03159b56e99006d0b376910ecd86c8419b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-35-1_892403529/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1403.457924008526, + 1226.4899758934107, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1406.0560002198795, + 1224.9899758934107, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1408.6540764312329, + 1223.4899758934107, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1411.2521526425862, + 1221.9899758934107, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1413.8502288539396, + 1220.4899758934107, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1416.448305065293, + 1218.9899758934107, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1419.0463812766463, + 1217.4899758934107, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1421.6444574879997, + 1215.9899758934107, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1424.242533699353, + 1214.4899758934107, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1426.8406099107065, + 1212.9899758934107, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1429.4386861220598, + 1211.4899758934107, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1432.0367623334132, + 1209.9899758934107, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1434.6348385447666, + 1208.4899758934107, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1437.23291475612, + 1206.9899758934107, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1439.8309909674733, + 1205.4899758934107, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1442.4290671788267, + 1203.9899758934107, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1445.02714339018, + 1202.4899758934107, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1447.6252196015334, + 1200.9899758934107, + 59.66870174784157 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1447.6252196015334, + 1200.9899758934107, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1449.1252196015334, + 1198.3918996820573, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1450.6252196015334, + 1195.793823470704, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1452.1252196015334, + 1193.1957472593506, + 59.66870174784157 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1452.1252196015334, + 1193.1957472593506, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1454.7232958128868, + 1191.6957472593506, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1457.3213720242402, + 1190.1957472593506, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1459.9194482355936, + 1188.6957472593506, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1462.517524446947, + 1187.1957472593506, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1465.1156006583003, + 1185.6957472593506, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1467.7136768696537, + 1184.1957472593506, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1470.311753081007, + 1182.6957472593506, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1472.9098292923604, + 1181.1957472593506, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1475.5079055037138, + 1179.6957472593506, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1478.1059817150672, + 1178.1957472593506, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1480.7040579264205, + 1176.6957472593506, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1483.302134137774, + 1175.1957472593506, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1485.9002103491273, + 1173.6957472593506, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1488.4982865604807, + 1172.1957472593506, + 59.66870174784157 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1488.4982865604807, + 1172.1957472593506, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1491.4982865604807, + 1172.1957472593506, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1494.4982865604807, + 1172.1957472593506, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1497.4982865604807, + 1172.1957472593506, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1500.4982865604807, + 1172.1957472593506, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1503.4982865604807, + 1172.1957472593506, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1506.4982865604807, + 1172.1957472593506, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1509.4982865604807, + 1172.1957472593506, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1512.4982865604807, + 1172.1957472593506, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1515.4982865604807, + 1172.1957472593506, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1518.4982865604807, + 1172.1957472593506, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1521.4982865604807, + 1172.1957472593506, + 59.66870174784157 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1524.4982865604807, + 1172.1957472593506, + 59.66870174784157 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1548.0, + 1160.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-37-22_1851876699/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-37-22_1851876699/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06427ec68c3c98527a78a9e9b69d800068b99e19 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_22-37-22_1851876699/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 889.2368486066846, + 1628.9215545217305, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 890.7368486066846, + 1631.5196307330839, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 892.2368486066846, + 1634.1177069444373, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 893.7368486066846, + 1636.7157831557906, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 895.2368486066846, + 1639.313859367144, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 896.7368486066846, + 1641.9119355784974, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 898.2368486066846, + 1644.5100117898508, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 899.7368486066846, + 1647.1080880012041, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 901.2368486066846, + 1649.7061642125575, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 902.7368486066846, + 1652.3042404239109, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 904.2368486066846, + 1654.9023166352642, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 905.7368486066846, + 1657.5003928466176, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 907.2368486066846, + 1660.098469057971, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 908.7368486066846, + 1662.6965452693244, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 910.2368486066846, + 1665.2946214806777, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 911.7368486066846, + 1667.892697692031, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 913.2368486066846, + 1670.4907739033845, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 914.7368486066846, + 1673.0888501147379, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 916.2368486066846, + 1675.6869263260912, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 917.7368486066846, + 1678.2850025374446, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 919.2368486066846, + 1680.883078748798, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 920.7368486066846, + 1683.4811549601513, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 922.2368486066846, + 1686.0792311715047, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 923.7368486066846, + 1688.677307382858, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 925.2368486066846, + 1691.2753835942115, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 926.7368486066846, + 1693.8734598055648, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 928.2368486066846, + 1696.4715360169182, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 929.7368486066846, + 1699.0696122282716, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 931.2368486066846, + 1701.667688439625, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 932.7368486066846, + 1704.2657646509783, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 934.2368486066846, + 1706.8638408623317, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 935.7368486066846, + 1709.461917073685, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 937.2368486066846, + 1712.0599932850384, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 938.7368486066846, + 1714.6580694963918, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 940.2368486066846, + 1717.2561457077452, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 941.7368486066846, + 1719.8542219190986, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 943.2368486066846, + 1722.452298130452, + 42.114895134039024 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 943.2368486066846, + 1722.452298130452, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 943.2368486066846, + 1725.452298130452, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 943.2368486066846, + 1728.452298130452, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 943.2368486066846, + 1731.452298130452, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 943.2368486066846, + 1734.452298130452, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 943.2368486066846, + 1737.452298130452, + 42.114895134039024 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 943.2368486066846, + 1740.452298130452, + 42.114895134039024 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 960.0, + 1772.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_23-16-55_742499321/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_23-16-55_742499321/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..13a655e230c26533c4b81e035a4b10bc17342826 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_23-16-55_742499321/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1118.7295366219648, + -1117.4595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1115.7295366219648, + -1117.4595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1112.7295366219648, + -1117.4595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1109.7295366219648, + -1117.4595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1106.7295366219648, + -1117.4595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1103.7295366219648, + -1117.4595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1100.7295366219648, + -1117.4595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1097.7295366219648, + -1117.4595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1094.7295366219648, + -1117.4595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1091.7295366219648, + -1117.4595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1088.7295366219648, + -1117.4595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1085.7295366219648, + -1117.4595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1082.7295366219648, + -1117.4595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1079.7295366219648, + -1117.4595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1076.7295366219648, + -1117.4595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1073.7295366219648, + -1117.4595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1070.7295366219648, + -1117.4595799178114, + 54.60548645434756 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1070.7295366219648, + -1117.4595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1068.1314604106115, + -1115.9595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1065.533384199258, + -1114.4595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1062.9353079879047, + -1112.9595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1060.3372317765513, + -1111.4595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1057.739155565198, + -1109.9595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1055.1410793538446, + -1108.4595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1052.5430031424912, + -1106.9595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1049.9449269311378, + -1105.4595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1047.3468507197845, + -1103.9595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1044.748774508431, + -1102.4595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1042.1506982970777, + -1100.9595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1039.5526220857244, + -1099.4595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1036.954545874371, + -1097.9595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1034.3564696630176, + -1096.4595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1031.7583934516642, + -1094.9595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1029.1603172403109, + -1093.4595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1026.5622410289575, + -1091.9595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1023.9641648176041, + -1090.4595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1021.3660886062507, + -1088.9595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1018.7680123948974, + -1087.4595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1016.169936183544, + -1085.9595799178114, + 54.60548645434756 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1016.169936183544, + -1085.9595799178114, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1014.669936183544, + -1083.361503706458, + 54.60548645434756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1013.169936183544, + -1080.7634274951047, + 54.60548645434756 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -976.0, + -1068.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_23-40-22_1536503812/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_23-40-22_1536503812/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f78391119a893560d2c6c3e1015da25d325663b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_23-40-22_1536503812/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 991.6251400248931, + 474.46936749861266, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 990.1251400248931, + 471.87129128725934, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 988.6251400248931, + 469.273215075906, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 987.1251400248931, + 466.6751388645527, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 985.6251400248931, + 464.0770626531994, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 984.1251400248931, + 461.4789864418461, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 982.6251400248931, + 458.88091023049276, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 981.1251400248931, + 456.28283401913944, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 979.6251400248931, + 453.6847578077861, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 978.1251400248931, + 451.0866815964328, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 976.6251400248931, + 448.4886053850795, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 975.1251400248931, + 445.8905291737262, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 973.6251400248931, + 443.29245296237286, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 972.1251400248931, + 440.69437675101955, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 970.6251400248931, + 438.09630053966623, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 969.1251400248931, + 435.4982243283129, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 967.6251400248931, + 432.9001481169596, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 966.1251400248931, + 430.3020719056063, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 964.6251400248931, + 427.70399569425297, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 963.1251400248931, + 425.10591948289965, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 961.6251400248931, + 422.50784327154634, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 960.1251400248931, + 419.909767060193, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 958.6251400248931, + 417.3116908488397, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 957.1251400248931, + 414.7136146374864, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 955.6251400248931, + 412.11553842613307, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 954.1251400248931, + 409.51746221477975, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 952.6251400248931, + 406.91938600342644, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 951.1251400248931, + 404.3213097920731, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 949.6251400248931, + 401.7232335807198, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 948.1251400248931, + 399.1251573693665, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 946.6251400248931, + 396.5270811580132, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 945.1251400248931, + 393.92900494665986, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 943.6251400248931, + 391.33092873530654, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 942.1251400248931, + 388.7328525239532, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 940.6251400248931, + 386.1347763125999, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 939.1251400248931, + 383.5367001012466, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 937.6251400248931, + 380.9386238898933, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 936.1251400248931, + 378.34054767853996, + 44.27111419770807 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 936.1251400248931, + 378.34054767853996, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 936.1251400248931, + 375.34054767853996, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 936.1251400248931, + 372.34054767853996, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 936.1251400248931, + 369.34054767853996, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 936.1251400248931, + 366.34054767853996, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 936.1251400248931, + 363.34054767853996, + 44.27111419770807 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 936.1251400248931, + 360.34054767853996, + 44.27111419770807 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 924.0, + 332.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_23-57-9_274396429/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_23-57-9_274396429/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5f3f193ab8fae90cbc36484b161e0fe7f7f4ba2d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_23-57-9_274396429/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1549.3413567256139, + 888.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1552.3413567256139, + 888.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1555.3413567256139, + 888.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1558.3413567256139, + 888.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1561.3413567256139, + 888.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1564.3413567256139, + 888.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1567.3413567256139, + 888.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1570.3413567256139, + 888.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1573.3413567256139, + 888.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1576.3413567256139, + 888.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1579.3413567256139, + 888.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1582.3413567256139, + 888.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1585.3413567256139, + 888.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1588.3413567256139, + 888.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1591.3413567256139, + 888.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1594.3413567256139, + 888.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1597.3413567256139, + 888.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1600.3413567256139, + 888.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1603.3413567256139, + 888.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1606.3413567256139, + 888.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1609.3413567256139, + 888.4956838335668, + 53.14713218349867 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1609.3413567256139, + 888.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1611.9394329369673, + 886.9956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1614.5375091483206, + 885.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1617.135585359674, + 883.9956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1619.7336615710274, + 882.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1622.3317377823807, + 880.9956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1624.9298139937341, + 879.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1627.5278902050875, + 877.9956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1630.1259664164409, + 876.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1632.7240426277942, + 874.9956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1635.3221188391476, + 873.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1637.920195050501, + 871.9956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1640.5182712618544, + 870.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1643.1163474732077, + 868.9956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1645.714423684561, + 867.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1648.3124998959145, + 865.9956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1650.9105761072678, + 864.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1653.5086523186212, + 862.9956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1656.1067285299746, + 861.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1658.704804741328, + 859.9956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1661.3028809526813, + 858.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1663.9009571640347, + 856.9956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1666.499033375388, + 855.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1669.0971095867415, + 853.9956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1671.6951857980948, + 852.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1674.2932620094482, + 850.9956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1676.8913382208016, + 849.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1679.489414432155, + 847.9956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1682.0874906435083, + 846.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1684.6855668548617, + 844.9956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1687.283643066215, + 843.4956838335668, + 53.14713218349867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1689.8817192775684, + 841.9956838335668, + 53.14713218349867 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1708.0, + 836.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-37-55_1090438014/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-37-55_1090438014/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c3c4cca66d83d36e0a29dac7b224f2450ff9f515 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-37-55_1090438014/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -157.4828855983372, + 424.66287122168904, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -155.9828855983372, + 427.26094743304236, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -154.4828855983372, + 429.8590236443957, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -152.9828855983372, + 432.457099855749, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -151.4828855983372, + 435.0551760671023, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -149.9828855983372, + 437.6532522784556, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -148.4828855983372, + 440.25132848980894, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -146.9828855983372, + 442.84940470116226, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -145.4828855983372, + 445.4474809125156, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -143.9828855983372, + 448.0455571238689, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -142.4828855983372, + 450.6436333352222, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -140.9828855983372, + 453.2417095465755, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -139.4828855983372, + 455.83978575792884, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -137.9828855983372, + 458.43786196928215, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -136.4828855983372, + 461.03593818063547, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -134.9828855983372, + 463.6340143919888, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -133.4828855983372, + 466.2320906033421, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -131.9828855983372, + 468.8301668146954, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -130.4828855983372, + 471.42824302604873, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -128.9828855983372, + 474.02631923740205, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -127.48288559833719, + 476.62439544875537, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -125.98288559833719, + 479.2224716601087, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -124.48288559833719, + 481.820547871462, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -122.98288559833719, + 484.4186240828153, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -121.48288559833719, + 487.01670029416863, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -119.98288559833719, + 489.61477650552195, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -118.48288559833719, + 492.21285271687526, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -116.98288559833719, + 494.8109289282286, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -115.48288559833719, + 497.4090051395819, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -113.98288559833719, + 500.0070813509352, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -112.48288559833719, + 502.6051575622885, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -110.98288559833719, + 505.20323377364184, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -109.48288559833719, + 507.80130998499516, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -107.98288559833719, + 510.3993861963485, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -106.48288559833719, + 512.9974624077017, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -104.98288559833719, + 515.5955386190551, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -103.48288559833719, + 518.1936148304085, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -101.98288559833719, + 520.7916910417619, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -100.48288559833719, + 523.3897672531152, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -98.98288559833719, + 525.9878434644686, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -97.48288559833719, + 528.585919675822, + 40.83509187862853 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -97.48288559833719, + 528.585919675822, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -97.48288559833719, + 531.585919675822, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -97.48288559833719, + 534.585919675822, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -97.48288559833719, + 537.585919675822, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -97.48288559833719, + 540.585919675822, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -97.48288559833719, + 543.585919675822, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -97.48288559833719, + 546.585919675822, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -97.48288559833719, + 549.585919675822, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -97.48288559833719, + 552.585919675822, + 40.83509187862853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -97.48288559833719, + 555.585919675822, + 40.83509187862853 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -88.0, + 572.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-8-22_1113675743/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-8-22_1113675743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..36451c76349500a638cc57821af5307bc863870a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_3-8-22_1113675743/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -176.8550872864133, + 444.06256537112466, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -175.3550872864133, + 446.660641582478, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -173.8550872864133, + 449.2587177938313, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -172.3550872864133, + 451.8567940051846, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -170.8550872864133, + 454.4548702165379, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -169.3550872864133, + 457.05294642789124, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -167.8550872864133, + 459.65102263924456, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -166.3550872864133, + 462.2490988505979, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -164.8550872864133, + 464.8471750619512, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -163.3550872864133, + 467.4452512733045, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -161.8550872864133, + 470.0433274846578, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -160.3550872864133, + 472.64140369601114, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -158.8550872864133, + 475.23947990736445, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -157.3550872864133, + 477.83755611871777, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -155.8550872864133, + 480.4356323300711, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -154.3550872864133, + 483.0337085414244, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -152.8550872864133, + 485.6317847527777, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -151.3550872864133, + 488.22986096413103, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -149.8550872864133, + 490.82793717548435, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -148.3550872864133, + 493.42601338683767, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -146.8550872864133, + 496.024089598191, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -145.3550872864133, + 498.6221658095443, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -143.8550872864133, + 501.2202420208976, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -142.3550872864133, + 503.81831823225093, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -140.8550872864133, + 506.41639444360425, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -139.3550872864133, + 509.01447065495756, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -137.8550872864133, + 511.6125468663109, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -136.3550872864133, + 514.2106230776642, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -134.8550872864133, + 516.8086992890176, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -133.3550872864133, + 519.4067755003709, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -131.8550872864133, + 522.0048517117243, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -130.3550872864133, + 524.6029279230777, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -128.8550872864133, + 527.2010041344311, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -127.3550872864133, + 529.7990803457844, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -125.8550872864133, + 532.3971565571378, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -124.3550872864133, + 534.9952327684912, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -122.8550872864133, + 537.5933089798446, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -121.3550872864133, + 540.1913851911979, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -119.8550872864133, + 542.7894614025513, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -118.3550872864133, + 545.3875376139047, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -116.8550872864133, + 547.985613825258, + 56.414421624982474 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -116.8550872864133, + 547.985613825258, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -114.25701107505998, + 549.485613825258, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -111.65893486370666, + 550.985613825258, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -109.06085865235335, + 552.485613825258, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -106.46278244100003, + 553.985613825258, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -103.86470622964671, + 555.485613825258, + 56.414421624982474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -101.2666300182934, + 556.985613825258, + 56.414421624982474 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -88.0, + 572.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_4-27-4_1277511625/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_4-27-4_1277511625/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2651679ce1dcec2b7bc0cc060e5b7ae87ce275d8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_4-27-4_1277511625/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -37.38622969313771, + 1583.4958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -39.98430590449102, + 1584.9958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -42.58238211584434, + 1586.4958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -45.180458327197655, + 1587.9958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -47.77853453855097, + 1589.4958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -50.37661074990429, + 1590.9958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -52.9746869612576, + 1592.4958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -55.57276317261092, + 1593.9958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -58.170839383964235, + 1595.4958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -60.76891559531755, + 1596.9958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -63.36699180667087, + 1598.4958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -65.96506801802418, + 1599.9958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -68.5631442293775, + 1601.4958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -71.16122044073082, + 1602.9958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -73.75929665208413, + 1604.4958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -76.35737286343745, + 1605.9958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -78.95544907479076, + 1607.4958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -81.55352528614408, + 1608.9958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -84.1516014974974, + 1610.4958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -86.74967770885071, + 1611.9958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -89.34775392020403, + 1613.4958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -91.94583013155734, + 1614.9958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -94.54390634291066, + 1616.4958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -97.14198255426398, + 1617.9958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -99.74005876561729, + 1619.4958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -102.33813497697061, + 1620.9958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -104.93621118832392, + 1622.4958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -107.53428739967724, + 1623.9958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -110.13236361103056, + 1625.4958167164464, + 46.29240111437221 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -110.13236361103056, + 1625.4958167164464, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -111.63236361103056, + 1628.0938929277997, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -113.13236361103056, + 1630.6919691391531, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -114.63236361103056, + 1633.2900453505065, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -116.13236361103056, + 1635.8881215618599, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -117.63236361103056, + 1638.4861977732132, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -119.13236361103056, + 1641.0842739845666, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -120.63236361103056, + 1643.68235019592, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -122.13236361103056, + 1646.2804264072734, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -123.63236361103056, + 1648.8785026186267, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -125.13236361103056, + 1651.47657882998, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -126.63236361103056, + 1654.0746550413335, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -128.13236361103054, + 1656.6727312526868, + 46.29240111437221 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393182 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -129.63236361103054, + 1659.2708074640402, + 46.29240111437221 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393182 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -160.0, + 1680.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_4-9-1_266795367/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_4-9-1_266795367/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..80893ce5bdffe74ef691befaaad2d681d256f50f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_4-9-1_266795367/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1659.7883548015254, + -1423.2822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1657.190278590172, + -1421.7822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1654.5922023788187, + -1420.2822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1651.9941261674653, + -1418.7822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1649.396049956112, + -1417.2822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1646.7979737447586, + -1415.7822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1644.1998975334052, + -1414.2822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1641.6018213220518, + -1412.7822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1639.0037451106984, + -1411.2822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1636.405668899345, + -1409.7822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1633.8075926879917, + -1408.2822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1631.2095164766383, + -1406.7822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1628.611440265285, + -1405.2822569478462, + 46.50159757195494 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1628.611440265285, + -1405.2822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1625.611440265285, + -1405.2822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1622.611440265285, + -1405.2822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1619.611440265285, + -1405.2822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1616.611440265285, + -1405.2822569478462, + 46.50159757195494 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1616.611440265285, + -1405.2822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1614.0133640539316, + -1403.7822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1611.4152878425782, + -1402.2822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1608.8172116312248, + -1400.7822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1606.2191354198715, + -1399.2822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1603.621059208518, + -1397.7822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1601.0229829971647, + -1396.2822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1598.4249067858113, + -1394.7822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1595.826830574458, + -1393.2822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1593.2287543631046, + -1391.7822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1590.6306781517512, + -1390.2822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1588.0326019403979, + -1388.7822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1585.4345257290445, + -1387.2822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1582.836449517691, + -1385.7822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1580.2383733063377, + -1384.2822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1577.6402970949844, + -1382.7822569478462, + 46.50159757195494 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1577.6402970949844, + -1382.7822569478462, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1576.1402970949844, + -1380.1841807364929, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1574.6402970949844, + -1377.5861045251395, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1573.1402970949844, + -1374.9880283137861, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1571.6402970949844, + -1372.3899521024327, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1570.1402970949844, + -1369.7918758910794, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1568.6402970949844, + -1367.193799679726, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1567.1402970949844, + -1364.5957234683726, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1565.6402970949844, + -1361.9976472570193, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1564.1402970949844, + -1359.3995710456659, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1562.6402970949844, + -1356.8014948343125, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1561.1402970949844, + -1354.2034186229591, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1559.6402970949844, + -1351.6053424116058, + 46.50159757195494 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1558.1402970949844, + -1349.0072662002524, + 46.50159757195494 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1524.0, + -1324.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_5-29-21_326551394/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_5-29-21_326551394/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ea64a09df79b3da0cb90aefa21212688877241b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_5-29-21_326551394/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -244.25395605520035, + 952.1343833140864, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -242.75395605520035, + 949.5363071027332, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -241.25395605520035, + 946.9382308913798, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -239.75395605520035, + 944.3401546800264, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -238.25395605520035, + 941.7420784686731, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -236.75395605520035, + 939.1440022573197, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -235.25395605520035, + 936.5459260459663, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -233.75395605520035, + 933.947849834613, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -232.25395605520035, + 931.3497736232596, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -230.75395605520035, + 928.7516974119062, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -229.25395605520035, + 926.1536212005528, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -227.75395605520035, + 923.5555449891995, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -226.25395605520035, + 920.9574687778461, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -224.75395605520035, + 918.3593925664927, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -223.25395605520035, + 915.7613163551393, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -221.75395605520035, + 913.163240143786, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -220.25395605520035, + 910.5651639324326, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -218.75395605520035, + 907.9670877210792, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -217.25395605520035, + 905.3690115097259, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -215.75395605520035, + 902.7709352983725, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -214.25395605520035, + 900.1728590870191, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -212.75395605520035, + 897.5747828756657, + 45.424337994251225 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -212.75395605520035, + 897.5747828756657, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -210.15587984384703, + 896.0747828756657, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -207.55780363249372, + 894.5747828756657, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -204.9597274211404, + 893.0747828756657, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -202.36165120978708, + 891.5747828756657, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -199.76357499843377, + 890.0747828756657, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -197.16549878708045, + 888.5747828756657, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -194.56742257572714, + 887.0747828756657, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -191.96934636437382, + 885.5747828756657, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -189.3712701530205, + 884.0747828756657, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -186.7731939416672, + 882.5747828756657, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -184.17511773031387, + 881.0747828756657, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -181.57704151896056, + 879.5747828756657, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -178.97896530760724, + 878.0747828756657, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -176.38088909625392, + 876.5747828756657, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -173.7828128849006, + 875.0747828756657, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -171.1847366735473, + 873.5747828756657, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -168.58666046219398, + 872.0747828756657, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -165.98858425084066, + 870.5747828756657, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -163.39050803948734, + 869.0747828756657, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -160.79243182813403, + 867.5747828756657, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -158.1943556167807, + 866.0747828756657, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -155.5962794054274, + 864.5747828756657, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -152.99820319407408, + 863.0747828756657, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -150.40012698272076, + 861.5747828756657, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -147.80205077136745, + 860.0747828756657, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -145.20397456001413, + 858.5747828756657, + 45.424337994251225 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -142.60589834866082, + 857.0747828756657, + 45.424337994251225 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -120.0, + 836.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_5-52-21_742949164/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_5-52-21_742949164/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8532f6e659c05cab82604db6c608024f81184423 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_5-52-21_742949164/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 754.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 757.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 760.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 763.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 766.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 769.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 772.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 775.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 778.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 781.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 784.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 787.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 790.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 793.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 796.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 799.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 802.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 805.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 808.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 811.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 814.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 817.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 820.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 823.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 826.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 829.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 832.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 835.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 838.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 841.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 844.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 847.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 847.2335766766122, + -169.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 849.8316528879654, + -167.98141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 852.4297290993188, + -166.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 855.0278053106722, + -164.98141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 857.6258815220256, + -163.48141070590728, + 50.03629971022731 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 860.2239577333789, + -161.98141070590728, + 50.03629971022731 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 904.0, + -160.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_5-54-1_1810821955/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_5-54-1_1810821955/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b17de730f3713b35f0508fc563eedd4bf8bd4917 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_5-54-1_1810821955/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -16.211901829424306, + -52.815596573131, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -13.211901829424306, + -52.815596573131, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -10.211901829424306, + -52.815596573131, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -7.211901829424306, + -52.815596573131, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -4.211901829424306, + -52.815596573131, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1.2119018294243062, + -52.815596573131, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1.7880981705756938, + -52.815596573131, + 40.45032859115686 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1.7880981705756938, + -52.815596573131, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4.38617438192901, + -51.315596573131, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 6.984250593282326, + -49.815596573131, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 9.582326804635642, + -48.315596573131, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 12.180403015988958, + -46.815596573131, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 14.778479227342274, + -45.315596573131, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 17.37655543869559, + -43.815596573131, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 19.974631650048906, + -42.315596573131, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 22.572707861402222, + -40.815596573131, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 25.170784072755538, + -39.315596573131, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 27.768860284108854, + -37.815596573131, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 30.36693649546217, + -36.315596573131, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 32.965012706815486, + -34.815596573131, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 35.5630889181688, + -33.315596573131, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 38.16116512952212, + -31.815596573131003, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 40.759241340875434, + -30.315596573131003, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 43.35731755222875, + -28.815596573131003, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 45.955393763582066, + -27.315596573131003, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 48.55346997493538, + -25.815596573131003, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 51.1515461862887, + -24.315596573131003, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 53.749622397642014, + -22.815596573131003, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 56.34769860899533, + -21.315596573131003, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 58.945774820348646, + -19.815596573131003, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 61.54385103170196, + -18.315596573131003, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 64.14192724305528, + -16.815596573131003, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 66.7400034544086, + -15.315596573131003, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 69.33807966576191, + -13.815596573131003, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 71.93615587711523, + -12.315596573131003, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 74.53423208846854, + -10.815596573131003, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 77.13230829982186, + -9.315596573131003, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 79.73038451117517, + -7.815596573131003, + 40.45032859115686 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 82.32846072252849, + -6.315596573131003, + 40.45032859115686 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 140.0, + 20.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-50-54_1386615055/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-50-54_1386615055/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77c4f56bfc40dc3343d5759e4f9ec6baba7ca7f4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_6-50-54_1386615055/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1074.680374889054, + -723.4643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1072.0822986777007, + -724.9643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1069.4842224663473, + -726.4643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1066.886146254994, + -727.9643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1064.2880700436406, + -729.4643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1061.6899938322872, + -730.9643875582935, + 64.60795138232098 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1061.6899938322872, + -730.9643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1058.6899938322872, + -730.9643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1055.6899938322872, + -730.9643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1052.6899938322872, + -730.9643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1049.6899938322872, + -730.9643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1046.6899938322872, + -730.9643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1043.6899938322872, + -730.9643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1040.6899938322872, + -730.9643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1037.6899938322872, + -730.9643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1034.6899938322872, + -730.9643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1031.6899938322872, + -730.9643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1028.6899938322872, + -730.9643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1025.6899938322872, + -730.9643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1022.6899938322872, + -730.9643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1019.6899938322872, + -730.9643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1016.6899938322872, + -730.9643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1013.6899938322872, + -730.9643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1010.6899938322872, + -730.9643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1007.6899938322872, + -730.9643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1004.6899938322872, + -730.9643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1001.6899938322872, + -730.9643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 998.6899938322872, + -730.9643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 995.6899938322872, + -730.9643875582935, + 64.60795138232098 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 995.6899938322872, + -730.9643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 993.0919176209338, + -729.4643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 990.4938414095805, + -727.9643875582935, + 64.60795138232098 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 990.4938414095805, + -727.9643875582935, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 988.9938414095805, + -725.3663113469402, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 987.4938414095805, + -722.7682351355868, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 985.9938414095805, + -720.1701589242334, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 984.4938414095805, + -717.57208271288, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 982.9938414095805, + -714.9740065015267, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 981.4938414095805, + -712.3759302901733, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 979.9938414095805, + -709.7778540788199, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 978.4938414095805, + -707.1797778674666, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 976.9938414095805, + -704.5817016561132, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 975.4938414095805, + -701.9836254447598, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 973.9938414095805, + -699.3855492334064, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 972.4938414095805, + -696.7874730220531, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 970.9938414095805, + -694.1893968106997, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 969.4938414095805, + -691.5913205993463, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 967.9938414095805, + -688.993244387993, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 966.4938414095805, + -686.3951681766396, + 64.60795138232098 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 964.9938414095805, + -683.7970919652862, + 64.60795138232098 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 920.0, + -668.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-16-27_689034589/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-16-27_689034589/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..741aae6ff67dc211637e41b41cda1194e9628a12 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-16-27_689034589/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1437.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1434.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1431.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1428.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1425.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1422.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1419.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1416.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1413.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1410.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1407.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1404.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1401.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1398.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1395.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1392.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1389.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1386.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1383.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1380.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1377.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1374.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1371.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1368.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1365.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1362.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1359.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1356.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1353.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1350.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1347.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1344.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1341.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1338.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1335.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1332.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1332.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1332.3140523068769, + 580.9937844546696, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1330.8140523068769, + 583.591860666023, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1329.3140523068769, + 586.1899368773763, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1327.8140523068769, + 588.7880130887297, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1326.3140523068769, + 591.3860893000831, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1324.8140523068769, + 593.9841655114365, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1323.3140523068769, + 596.5822417227898, + 49.289334196443654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1323.3140523068769, + 596.5822417227898, + 49.289334196443654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1320.7159760955235, + 598.0822417227898, + 49.289334196443654 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914846 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1288.0, + 604.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-47-32_1004642738/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-47-32_1004642738/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c496fd9f204b377c583d47d1a3f52bd5072b2ae7 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-47-32_1004642738/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1362.631654353308, + -29.907332458064502, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1364.131654353308, + -27.309256246711186, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1365.631654353308, + -24.71118003535787, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1367.131654353308, + -22.113103824004554, + 56.62766194621622 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1367.131654353308, + -22.113103824004554, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1369.7297305646614, + -20.613103824004554, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1372.3278067760148, + -19.113103824004554, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1374.9258829873681, + -17.613103824004554, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1377.5239591987215, + -16.113103824004554, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1380.1220354100749, + -14.613103824004554, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1382.7201116214283, + -13.113103824004554, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1385.3181878327816, + -11.613103824004554, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1387.916264044135, + -10.113103824004554, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1390.5143402554884, + -8.613103824004554, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1393.1124164668418, + -7.113103824004554, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1395.7104926781951, + -5.613103824004554, + 56.62766194621622 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1395.7104926781951, + -5.613103824004554, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1397.2104926781951, + -3.015027612651238, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1398.7104926781951, + -0.4169514012979221, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1400.2104926781951, + 2.181124810055394, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1401.7104926781951, + 4.77920102140871, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1403.2104926781951, + 7.377277232762026, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1404.7104926781951, + 9.975353444115342, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1406.2104926781951, + 12.573429655468658, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1407.7104926781951, + 15.171505866821974, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1409.2104926781951, + 17.76958207817529, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1410.7104926781951, + 20.367658289528606, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1412.2104926781951, + 22.965734500881922, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1413.7104926781951, + 25.563810712235238, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1415.2104926781951, + 28.161886923588554, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1416.7104926781951, + 30.75996313494187, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1418.2104926781951, + 33.358039346295186, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1419.7104926781951, + 35.9561155576485, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1421.2104926781951, + 38.55419176900182, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1422.7104926781951, + 41.152267980355134, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1424.2104926781951, + 43.75034419170845, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1425.7104926781951, + 46.348420403061766, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1427.2104926781951, + 48.94649661441508, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1428.7104926781951, + 51.5445728257684, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1430.2104926781951, + 54.142649037121714, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1431.7104926781951, + 56.74072524847503, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1433.2104926781951, + 59.338801459828346, + 56.62766194621622 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1433.2104926781951, + 59.338801459828346, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1433.2104926781951, + 62.338801459828346, + 56.62766194621622 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1433.2104926781951, + 65.33880145982835, + 56.62766194621622 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1460.0, + 108.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-54-43_161922596/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-54-43_161922596/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6a4dc39228db5900e6a78183b0984ab3f1284dd5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-54-43_161922596/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1015.6530499136528, + -457.47766896954505, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1018.2511261250061, + -455.97766896954505, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1020.8492023363594, + -454.47766896954505, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1023.4472785477128, + -452.97766896954505, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1026.0453547590662, + -451.47766896954505, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1028.6434309704196, + -449.97766896954505, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1031.241507181773, + -448.47766896954505, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1033.8395833931263, + -446.97766896954505, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1036.4376596044797, + -445.47766896954505, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1039.035735815833, + -443.97766896954505, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1041.6338120271864, + -442.47766896954505, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1044.2318882385398, + -440.97766896954505, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1046.8299644498932, + -439.47766896954505, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1049.4280406612465, + -437.97766896954505, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1052.0261168726, + -436.47766896954505, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1054.6241930839533, + -434.97766896954505, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1057.2222692953067, + -433.47766896954505, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1059.82034550666, + -431.97766896954505, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1062.4184217180134, + -430.47766896954505, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1065.0164979293668, + -428.97766896954505, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1067.6145741407202, + -427.47766896954505, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1070.2126503520735, + -425.97766896954505, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1072.810726563427, + -424.47766896954505, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1075.4088027747803, + -422.97766896954505, + 48.30793078422224 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1075.4088027747803, + -422.97766896954505, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1076.9088027747803, + -420.37959275819173, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1078.4088027747803, + -417.7815165468384, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1079.9088027747803, + -415.1834403354851, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1081.4088027747803, + -412.5853641241318, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1082.9088027747803, + -409.98728791277847, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1084.4088027747803, + -407.38921170142515, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1085.9088027747803, + -404.79113549007184, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1087.4088027747803, + -402.1930592787185, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1088.9088027747803, + -399.5949830673652, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1090.4088027747803, + -396.9969068560119, + 48.30793078422224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1091.9088027747803, + -394.3988306446586, + 48.30793078422224 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1132.0, + -356.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-55-34_1092771206/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-55-34_1092771206/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..57546860486a65b565ae29e57ef27ec65bafdb03 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_7-55-34_1092771206/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 661.6148092861612, + -1287.1012636703922, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 663.1148092861612, + -1284.5031874590388, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 664.6148092861612, + -1281.9051112476855, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 666.1148092861612, + -1279.307035036332, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 667.6148092861612, + -1276.7089588249787, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 669.1148092861612, + -1274.1108826136253, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 670.6148092861612, + -1271.512806402272, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 672.1148092861612, + -1268.9147301909186, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 673.6148092861612, + -1266.3166539795652, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 675.1148092861612, + -1263.7185777682118, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 676.6148092861612, + -1261.1205015568585, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 678.1148092861612, + -1258.522425345505, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 679.6148092861612, + -1255.9243491341517, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 681.1148092861612, + -1253.3262729227984, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 682.6148092861612, + -1250.728196711445, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 684.1148092861612, + -1248.1301205000916, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 685.6148092861612, + -1245.5320442887382, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 687.1148092861612, + -1242.9339680773849, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 688.6148092861612, + -1240.3358918660315, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 690.1148092861612, + -1237.7378156546781, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 691.6148092861612, + -1235.1397394433247, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 693.1148092861612, + -1232.5416632319714, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 694.6148092861612, + -1229.943587020618, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 696.1148092861612, + -1227.3455108092646, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 697.6148092861612, + -1224.7474345979113, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 699.1148092861612, + -1222.1493583865579, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 700.6148092861612, + -1219.5512821752045, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 702.1148092861612, + -1216.9532059638511, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 703.6148092861612, + -1214.3551297524978, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 705.1148092861612, + -1211.7570535411444, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 706.6148092861612, + -1209.158977329791, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 708.1148092861612, + -1206.5609011184376, + 69.53844426303439 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 708.1148092861612, + -1206.5609011184376, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 710.7128854975144, + -1205.0609011184376, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 713.3109617088678, + -1203.5609011184376, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 715.9090379202212, + -1202.0609011184376, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 718.5071141315746, + -1200.5609011184376, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 721.1051903429279, + -1199.0609011184376, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 723.7032665542813, + -1197.5609011184376, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 726.3013427656347, + -1196.0609011184376, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 728.899418976988, + -1194.5609011184376, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 731.4974951883414, + -1193.0609011184376, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 734.0955713996948, + -1191.5609011184376, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 736.6936476110482, + -1190.0609011184376, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 739.2917238224015, + -1188.5609011184376, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 741.8898000337549, + -1187.0609011184376, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 744.4878762451083, + -1185.5609011184376, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 747.0859524564617, + -1184.0609011184376, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 749.684028667815, + -1182.5609011184376, + 69.53844426303439 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 749.684028667815, + -1182.5609011184376, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 751.184028667815, + -1179.9628249070843, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 752.684028667815, + -1177.364748695731, + 69.53844426303439 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 754.184028667815, + -1174.7666724843775, + 69.53844426303439 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 768.0, + -1160.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-23-2_1127167744/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-23-2_1127167744/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..80614ea233a603b4f420b28a8dbf123d90be6940 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-23-2_1127167744/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1609.6476257632162, + 889.064566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1612.2457019745696, + 890.564566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1614.843778185923, + 892.064566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1617.4418543972763, + 893.564566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1620.0399306086297, + 895.064566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1622.638006819983, + 896.564566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1625.2360830313364, + 898.064566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1627.8341592426898, + 899.564566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1630.4322354540432, + 901.064566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1633.0303116653965, + 902.564566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1635.62838787675, + 904.064566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1638.2264640881033, + 905.564566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1640.8245402994567, + 907.064566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1643.42261651081, + 908.564566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1646.0206927221634, + 910.064566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1648.6187689335168, + 911.564566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1651.2168451448701, + 913.064566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1653.8149213562235, + 914.564566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1656.412997567577, + 916.064566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1659.0110737789303, + 917.564566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1661.6091499902836, + 919.064566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1664.207226201637, + 920.564566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1666.8053024129904, + 922.064566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1669.4033786243438, + 923.564566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1672.0014548356971, + 925.064566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1674.5995310470505, + 926.564566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1677.1976072584039, + 928.064566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1679.7956834697573, + 929.564566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1682.3937596811106, + 931.064566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1684.991835892464, + 932.564566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1687.5899121038174, + 934.064566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1690.1879883151707, + 935.564566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1692.7860645265241, + 937.064566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1695.3841407378775, + 938.564566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1697.9822169492309, + 940.064566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1700.5802931605842, + 941.564566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1703.1783693719376, + 943.064566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1705.776445583291, + 944.564566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1708.3745217946444, + 946.064566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1710.9725980059977, + 947.564566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1713.570674217351, + 949.064566286116, + 68.7817650089705 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1716.1687504287045, + 950.564566286116, + 68.7817650089705 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1744.0, + 968.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-6-51_204742850/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-6-51_204742850/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..393fc7ee2023dfa09eb186bc7f565d71f25f66c8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_8-6-51_204742850/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1072.8505243148327, + -957.8478751900558, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1072.8505243148327, + -960.8478751900558, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1072.8505243148327, + -963.8478751900558, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1072.8505243148327, + -966.8478751900558, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1072.8505243148327, + -969.8478751900558, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1072.8505243148327, + -972.8478751900558, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1072.8505243148327, + -975.8478751900558, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1072.8505243148327, + -978.8478751900558, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1072.8505243148327, + -981.8478751900558, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1072.8505243148327, + -984.8478751900558, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1072.8505243148327, + -987.8478751900558, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1072.8505243148327, + -990.8478751900558, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1072.8505243148327, + -993.8478751900558, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1072.8505243148327, + -996.8478751900558, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1072.8505243148327, + -999.8478751900558, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1072.8505243148327, + -1002.8478751900558, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1072.8505243148327, + -1005.8478751900558, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1072.8505243148327, + -1008.8478751900558, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1072.8505243148327, + -1011.8478751900558, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1072.8505243148327, + -1014.8478751900558, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1072.8505243148327, + -1017.8478751900558, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1072.8505243148327, + -1020.8478751900558, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1072.8505243148327, + -1023.8478751900558, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1072.8505243148327, + -1026.8478751900557, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1072.8505243148327, + -1029.8478751900557, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1072.8505243148327, + -1032.8478751900557, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1072.8505243148327, + -1035.8478751900557, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1072.8505243148327, + -1038.8478751900557, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1072.8505243148327, + -1041.8478751900557, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1072.8505243148327, + -1044.8478751900557, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1072.8505243148327, + -1047.8478751900557, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1072.8505243148327, + -1050.8478751900557, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1072.8505243148327, + -1053.8478751900557, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1072.8505243148327, + -1056.8478751900557, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1072.8505243148327, + -1059.8478751900557, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1072.8505243148327, + -1062.8478751900557, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1072.8505243148327, + -1065.8478751900557, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1072.8505243148327, + -1068.8478751900557, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1072.8505243148327, + -1071.8478751900557, + 41.66153460309205 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1072.8505243148327, + -1071.8478751900557, + 41.66153460309205 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1072.8505243148327, + -1071.8478751900557, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1075.448600526186, + -1073.3478751900557, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1078.0466767375394, + -1074.8478751900557, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1080.6447529488928, + -1076.3478751900557, + 41.66153460309205 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1080.6447529488928, + -1076.3478751900557, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1082.1447529488928, + -1078.945951401409, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1083.6447529488928, + -1081.5440276127624, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1085.1447529488928, + -1084.1421038241158, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1086.6447529488928, + -1086.7401800354692, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1088.1447529488928, + -1089.3382562468225, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1089.6447529488928, + -1091.936332458176, + 41.66153460309205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1091.1447529488928, + -1094.5344086695293, + 41.66153460309205 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1092.0, + -1108.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-43-16_1501659818/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-43-16_1501659818/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..799e9b33873b107539e6b7755c1aca4d814581ba --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-43-16_1501659818/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1008.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1005.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1002.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 999.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 996.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 993.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 990.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 987.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 984.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 981.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 978.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 975.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 972.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 969.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 966.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 963.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 960.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 957.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 954.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 951.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 948.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 945.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 942.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 939.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 936.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 933.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 930.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 927.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 924.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 921.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 918.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 915.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 912.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 909.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 906.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 903.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 900.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 897.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 894.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 891.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 888.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 885.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 882.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 879.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 876.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 873.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 870.8125128742944, + -1111.625326200446, + 69.13345391520377 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 848.0, + -1112.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-45-9_397977904/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-45-9_397977904/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..efc6e934b64699f813d7dca2cafb0009b436a1af --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-7_9-45-9_397977904/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1287.7573697637417, + 514.1454077702437, + 48.34479236455898 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1290.7573697637417, + 514.1454077702437, + 48.34479236455898 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1293.7573697637417, + 514.1454077702437, + 48.34479236455898 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1296.7573697637417, + 514.1454077702437, + 48.34479236455898 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1299.7573697637417, + 514.1454077702437, + 48.34479236455898 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1302.7573697637417, + 514.1454077702437, + 48.34479236455898 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1305.7573697637417, + 514.1454077702437, + 48.34479236455898 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1308.7573697637417, + 514.1454077702437, + 48.34479236455898 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1311.7573697637417, + 514.1454077702437, + 48.34479236455898 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1314.7573697637417, + 514.1454077702437, + 48.34479236455898 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1317.7573697637417, + 514.1454077702437, + 48.34479236455898 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1460.0, + 528.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-32-20_277769586/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-32-20_277769586/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16e5462e75078696202212bfae6005add1d2dd26 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-32-20_277769586/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1697.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1694.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1691.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1688.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1685.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1682.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1679.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1676.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1673.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1670.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1667.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1664.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1661.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1658.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1655.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1652.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1649.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1646.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1643.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1640.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1637.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1634.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1631.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1628.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1625.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1622.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1619.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1616.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1613.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1610.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1607.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1604.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1601.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1598.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1595.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1592.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1589.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1586.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1583.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1580.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1580.9343425616353, + -137.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1578.336266350282, + -139.11371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1575.7381901389285, + -140.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1573.1401139275752, + -142.11371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1570.5420377162218, + -143.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1567.9439615048684, + -145.11371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1565.345885293515, + -146.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1562.7478090821617, + -148.11371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1560.1497328708083, + -149.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1557.551656659455, + -151.11371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1554.9535804481015, + -152.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1552.3555042367482, + -154.11371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1549.7574280253948, + -155.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1547.1593518140414, + -157.11371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1544.561275602688, + -158.61371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1541.9631993913347, + -160.11371489990464, + 65.73046443195662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1539.3651231799813, + -161.61371489990464, + 65.73046443195662 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.0, + -164.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-42-33_1073492800/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-42-33_1073492800/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f002ab43a96757eb498b5a81899193e46174dca6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-42-33_1073492800/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 176.5468665327129, + -233.00493244536295, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 178.0468665327129, + -235.60300865671627, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 179.5468665327129, + -238.20108486806959, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 181.0468665327129, + -240.7991610794229, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 182.5468665327129, + -243.39723729077622, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 184.0468665327129, + -245.99531350212953, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 185.5468665327129, + -248.59338971348285, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 187.0468665327129, + -251.19146592483617, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 188.5468665327129, + -253.78954213618948, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 190.0468665327129, + -256.3876183475428, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 191.5468665327129, + -258.9856945588961, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 193.0468665327129, + -261.58377077024943, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 194.5468665327129, + -264.18184698160275, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 196.0468665327129, + -266.77992319295606, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 197.5468665327129, + -269.3779994043094, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 199.0468665327129, + -271.9760756156627, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 200.5468665327129, + -274.574151827016, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 202.0468665327129, + -277.1722280383693, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 203.5468665327129, + -279.77030424972264, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 205.0468665327129, + -282.36838046107596, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 206.5468665327129, + -284.9664566724293, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 208.0468665327129, + -287.5645328837826, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 209.5468665327129, + -290.1626090951359, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 211.0468665327129, + -292.7606853064892, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 212.5468665327129, + -295.35876151784254, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 214.0468665327129, + -297.95683772919585, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 215.5468665327129, + -300.55491394054917, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 217.0468665327129, + -303.1529901519025, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 218.5468665327129, + -305.7510663632558, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 220.0468665327129, + -308.3491425746091, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 221.5468665327129, + -310.94721878596243, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 223.0468665327129, + -313.54529499731575, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 224.5468665327129, + -316.14337120866907, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 226.0468665327129, + -318.7414474200224, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 227.5468665327129, + -321.3395236313757, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 229.0468665327129, + -323.937599842729, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 230.5468665327129, + -326.53567605408233, + 65.58221789331166 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 230.5468665327129, + -326.53567605408233, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 230.5468665327129, + -329.53567605408233, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 230.5468665327129, + -332.53567605408233, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 230.5468665327129, + -335.53567605408233, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 230.5468665327129, + -338.53567605408233, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 230.5468665327129, + -341.53567605408233, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 230.5468665327129, + -344.53567605408233, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 230.5468665327129, + -347.53567605408233, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 230.5468665327129, + -350.53567605408233, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 230.5468665327129, + -353.53567605408233, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 230.5468665327129, + -356.53567605408233, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 230.5468665327129, + -359.53567605408233, + 65.58221789331166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 230.5468665327129, + -362.53567605408233, + 65.58221789331166 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 236.0, + -376.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-54-54_76293255/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-54-54_76293255/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4486d16f65cbe42ce49a7c6dec4b6cf03777222a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-54-54_76293255/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1250.8329479078175, + 128.81057365511415, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1249.3329479078175, + 126.21249744376084, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1247.8329479078175, + 123.61442123240752, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1246.3329479078175, + 121.0163450210542, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1244.8329479078175, + 118.41826880970089, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1243.3329479078175, + 115.82019259834757, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1241.8329479078175, + 113.22211638699426, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1240.3329479078175, + 110.62404017564094, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1238.8329479078175, + 108.02596396428763, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1237.3329479078175, + 105.42788775293431, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1235.8329479078175, + 102.829811541581, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1234.3329479078175, + 100.23173533022768, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1232.8329479078175, + 97.63365911887436, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1231.3329479078175, + 95.03558290752105, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1229.8329479078175, + 92.43750669616773, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1228.3329479078175, + 89.83943048481441, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1226.8329479078175, + 87.2413542734611, + 47.984685828915204 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1226.8329479078175, + 87.2413542734611, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1224.234871696464, + 85.7413542734611, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1221.6367954851107, + 84.2413542734611, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1219.0387192737574, + 82.7413542734611, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1216.440643062404, + 81.2413542734611, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1213.8425668510506, + 79.7413542734611, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1211.2444906396972, + 78.2413542734611, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1208.6464144283439, + 76.7413542734611, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1206.0483382169905, + 75.2413542734611, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1203.4502620056371, + 73.7413542734611, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1200.8521857942837, + 72.2413542734611, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1198.2541095829304, + 70.7413542734611, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1195.656033371577, + 69.2413542734611, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1193.0579571602236, + 67.7413542734611, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1190.4598809488702, + 66.2413542734611, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1187.8618047375169, + 64.7413542734611, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1185.2637285261635, + 63.2413542734611, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1182.6656523148101, + 61.7413542734611, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1180.0675761034568, + 60.2413542734611, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1177.4694998921034, + 58.7413542734611, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1174.87142368075, + 57.2413542734611, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1172.2733474693966, + 55.7413542734611, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1169.6752712580433, + 54.2413542734611, + 47.984685828915204 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1169.6752712580433, + 54.2413542734611, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1168.1752712580433, + 51.64327806210778, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1166.6752712580433, + 49.04520185075447, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1165.1752712580433, + 46.44712563940115, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1163.6752712580433, + 43.849049428047834, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1162.1752712580433, + 41.25097321669452, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1160.6752712580433, + 38.6528970053412, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1159.1752712580433, + 36.054820793987886, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1157.6752712580433, + 33.45674458263457, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1156.1752712580433, + 30.858668371281254, + 47.984685828915204 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1154.6752712580433, + 28.26059215992794, + 47.984685828915204 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0, + 12.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-57-51_23062189/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-57-51_23062189/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2c5c0569e16ca0bee81d4e189f0f4e6a024d57ff --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-57-51_23062189/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1302.9324320338442, + -839.308234736082, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1304.4324320338442, + -836.7101585247287, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1305.9324320338442, + -834.1120823133754, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1307.4324320338442, + -831.514006102022, + 40.31785442054563 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1307.4324320338442, + -831.514006102022, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1307.4324320338442, + -828.514006102022, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1307.4324320338442, + -825.514006102022, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1307.4324320338442, + -822.514006102022, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1307.4324320338442, + -819.514006102022, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1307.4324320338442, + -816.514006102022, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1307.4324320338442, + -813.514006102022, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1307.4324320338442, + -810.514006102022, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1307.4324320338442, + -807.514006102022, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1307.4324320338442, + -804.514006102022, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1307.4324320338442, + -801.514006102022, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1307.4324320338442, + -798.514006102022, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1307.4324320338442, + -795.514006102022, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1307.4324320338442, + -792.514006102022, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1307.4324320338442, + -789.514006102022, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1307.4324320338442, + -786.514006102022, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1307.4324320338442, + -783.514006102022, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1307.4324320338442, + -780.514006102022, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1307.4324320338442, + -777.514006102022, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1307.4324320338442, + -774.514006102022, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1307.4324320338442, + -771.514006102022, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1307.4324320338442, + -768.514006102022, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1307.4324320338442, + -765.514006102022, + 40.31785442054563 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1307.4324320338442, + -765.514006102022, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1308.9324320338442, + -762.9159298906686, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1310.4324320338442, + -760.3178536793152, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1311.9324320338442, + -757.7197774679619, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1313.4324320338442, + -755.1217012566085, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1314.9324320338442, + -752.5236250452551, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1316.4324320338442, + -749.9255488339018, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1317.9324320338442, + -747.3274726225484, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1319.4324320338442, + -744.729396411195, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1320.9324320338442, + -742.1313201998416, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1322.4324320338442, + -739.5332439884883, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1323.9324320338442, + -736.9351677771349, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1325.4324320338442, + -734.3370915657815, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1326.9324320338442, + -731.7390153544281, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1328.4324320338442, + -729.1409391430748, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1329.9324320338442, + -726.5428629317214, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1331.4324320338442, + -723.944786720368, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1332.9324320338442, + -721.3467105090147, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1334.4324320338442, + -718.7486342976613, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1335.9324320338442, + -716.1505580863079, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1337.4324320338442, + -713.5524818749545, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1338.9324320338442, + -710.9544056636012, + 40.31785442054563 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1340.4324320338442, + -708.3563294522478, + 40.31785442054563 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1344.0, + -688.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-7-42_888055336/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-7-42_888055336/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1bcae65855ae7867af7c2c0049f5e7ffab7b3680 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_0-7-42_888055336/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1716.8220561729452, + 10.001051611672636, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1716.8220561729452, + 13.001051611672636, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1716.8220561729452, + 16.001051611672636, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1716.8220561729452, + 19.001051611672636, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1716.8220561729452, + 22.001051611672636, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1716.8220561729452, + 25.001051611672636, + 43.9288369611677 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1716.8220561729452, + 25.001051611672636, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1715.3220561729452, + 27.599127823025952, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1713.8220561729452, + 30.19720403437927, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1712.3220561729452, + 32.795280245732584, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1710.8220561729452, + 35.3933564570859, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1709.3220561729452, + 37.99143266843922, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1707.8220561729452, + 40.58950887979253, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1706.3220561729452, + 43.18758509114585, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1704.8220561729452, + 45.785661302499165, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1703.3220561729452, + 48.38373751385248, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1701.8220561729452, + 50.9818137252058, + 43.9288369611677 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1701.8220561729452, + 50.9818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1699.2239799615918, + 52.4818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1696.6259037502384, + 53.9818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1694.027827538885, + 55.4818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1691.4297513275317, + 56.9818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1688.8316751161783, + 58.4818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1686.233598904825, + 59.9818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1683.6355226934716, + 61.4818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1681.0374464821182, + 62.9818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1678.4393702707648, + 64.4818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1675.8412940594114, + 65.9818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1673.243217848058, + 67.4818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1670.6451416367047, + 68.9818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1668.0470654253513, + 70.4818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1665.448989213998, + 71.9818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1662.8509130026446, + 73.4818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1660.2528367912912, + 74.9818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1657.6547605799378, + 76.4818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1655.0566843685845, + 77.9818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1652.458608157231, + 79.4818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1649.8605319458777, + 80.9818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1647.2624557345243, + 82.4818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1644.664379523171, + 83.9818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1642.0663033118176, + 85.4818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1639.4682271004642, + 86.9818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1636.8701508891108, + 88.4818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1634.2720746777575, + 89.9818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1631.673998466404, + 91.4818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1629.0759222550507, + 92.9818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1626.4778460436974, + 94.4818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1623.879769832344, + 95.9818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1621.2816936209906, + 97.4818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1618.6836174096372, + 98.9818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1616.0855411982839, + 100.4818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1613.4874649869305, + 101.9818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1610.8893887755771, + 103.4818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1608.2913125642237, + 104.9818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1605.6932363528704, + 106.4818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1603.095160141517, + 107.9818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1600.4970839301636, + 109.4818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -1597.8990077188103, + 110.9818137252058, + 43.9288369611677 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -1597.8990077188103, + 110.9818137252058, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -1596.3990077188103, + 113.57988993655911, + 43.9288369611677 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -1594.8990077188103, + 116.17796614791243, + 43.9288369611677 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1584.0, + 128.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-17-24_170722958/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-17-24_170722958/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5f4ba1c99d22690c79171ffbac71b8e431b4c4d5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_long/2025-1-8_1-17-24_170722958/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 268.68895518614806, + -474.08852054154977, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 265.68895518614806, + -474.08852054154977, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 262.68895518614806, + -474.08852054154977, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 259.68895518614806, + -474.08852054154977, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 256.68895518614806, + -474.08852054154977, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 253.68895518614806, + -474.08852054154977, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 250.68895518614806, + -474.08852054154977, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 247.68895518614806, + -474.08852054154977, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 244.68895518614806, + -474.08852054154977, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 241.68895518614806, + -474.08852054154977, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 238.68895518614806, + -474.08852054154977, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 235.68895518614806, + -474.08852054154977, + 44.37843941318689 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 235.68895518614806, + -474.08852054154977, + 44.37843941318689 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 235.68895518614806, + -474.08852054154977, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 234.18895518614806, + -476.6865967529031, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 232.68895518614806, + -479.2846729642564, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 231.18895518614806, + -481.8827491756097, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 229.68895518614806, + -484.48082538696303, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 228.18895518614806, + -487.07890159831635, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 226.68895518614806, + -489.67697780966967, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 225.18895518614806, + -492.275054021023, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 223.68895518614806, + -494.8731302323763, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 222.18895518614806, + -497.4712064437296, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 220.68895518614806, + -500.06928265508293, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 219.18895518614806, + -502.66735886643625, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 217.68895518614806, + -505.26543507778956, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 216.18895518614806, + -507.8635112891429, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 214.68895518614806, + -510.4615875004962, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 213.18895518614806, + -513.0596637118495, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 211.68895518614806, + -515.6577399232028, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 210.18895518614806, + -518.2558161345562, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 208.68895518614806, + -520.8538923459096, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 207.18895518614806, + -523.451968557263, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 205.68895518614806, + -526.0500447686163, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 204.18895518614806, + -528.6481209799697, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 202.68895518614806, + -531.2461971913231, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 201.18895518614806, + -533.8442734026764, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 199.68895518614806, + -536.4423496140298, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 198.18895518614806, + -539.0404258253832, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 196.68895518614806, + -541.6385020367366, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 195.18895518614806, + -544.2365782480899, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 193.68895518614806, + -546.8346544594433, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 192.18895518614806, + -549.4327306707967, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 190.68895518614806, + -552.03080688215, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 189.18895518614806, + -554.6288830935034, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 187.68895518614806, + -557.2269593048568, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 186.18895518614806, + -559.8250355162102, + 44.37843941318689 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 186.18895518614806, + -559.8250355162102, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 183.59087897479475, + -561.3250355162102, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 180.99280276344143, + -562.8250355162102, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 178.39472655208812, + -564.3250355162102, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 175.7966503407348, + -565.8250355162102, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 173.19857412938148, + -567.3250355162102, + 44.37843941318689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 170.60049791802817, + -568.8250355162102, + 44.37843941318689 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 152.0, + -588.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +}