Datasets:

License:
mistletoe235 commited on
Commit
113e249
·
verified ·
1 Parent(s): 764f813

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. Image/env_airsim_16/astar_data/medium_average/2025-01-19_03-12-51_906855/pose.jsonl +626 -0
  2. Image/env_airsim_16/astar_data/medium_average/2025-01-19_03-14-11_776878/pose.jsonl +769 -0
  3. Image/env_airsim_16/astar_data/medium_average/2025-01-19_03-22-03_162712/pose.jsonl +704 -0
  4. Image/env_airsim_16/astar_data/medium_average/2025-01-19_03-30-48_583520/pose.jsonl +600 -0
  5. Image/env_airsim_16/astar_data/medium_average/2025-01-19_03-53-22_789184/pose.jsonl +743 -0
  6. Image/env_airsim_16/astar_data/medium_average/2025-01-19_04-13-27_133166/pose.jsonl +717 -0
  7. Image/env_airsim_16/astar_data/medium_average/2025-1-9_11-20-15_846930886/pose.jsonl +483 -0
  8. Image/env_airsim_16/astar_data/medium_average/2025-1-9_11-23-28_1025202362/pose.jsonl +652 -0
  9. Image/env_airsim_16/astar_data/medium_average/2025-1-9_11-25-1_2044897763/pose.jsonl +496 -0
  10. Image/env_airsim_16/astar_data/medium_average/2025-1-9_11-33-24_1059961393/pose.jsonl +288 -0
  11. Image/env_airsim_16/astar_data/medium_average/2025-1-9_11-35-15_1653377373/pose.jsonl +119 -0
  12. Image/env_airsim_16/astar_data/medium_average/2025-1-9_11-51-29_1780695788/pose.jsonl +769 -0
  13. Image/env_airsim_16/astar_data/medium_average/2025-1-9_12-10-19_524872353/pose.jsonl +535 -0
  14. Image/env_airsim_16/astar_data/medium_average/2025-1-9_12-20-52_1622597488/pose.jsonl +106 -0
  15. Image/env_airsim_16/astar_data/medium_average/2025-1-9_12-21-0_111537764/pose.jsonl +509 -0
  16. Image/env_airsim_16/astar_data/medium_average/2025-1-9_12-21-23_338888228/pose.jsonl +340 -0
  17. Image/env_airsim_16/astar_data/medium_average/2025-1-9_12-22-8_438792350/pose.jsonl +691 -0
  18. Image/env_airsim_16/astar_data/medium_average/2025-1-9_12-45-28_1272469786/pose.jsonl +522 -0
  19. Image/env_airsim_16/astar_data/medium_average/2025-1-9_12-52-28_1335354340/pose.jsonl +717 -0
  20. Image/env_airsim_16/astar_data/medium_average/2025-1-9_12-53-42_1494613810/pose.jsonl +639 -0
  21. Image/env_airsim_16/astar_data/medium_average/2025-1-9_12-56-20_1346811305/pose.jsonl +509 -0
  22. Image/env_airsim_16/astar_data/medium_average/2025-1-9_13-12-5_437116466/pose.jsonl +119 -0
  23. Image/env_airsim_16/astar_data/medium_average/2025-1-9_13-32-17_570073850/pose.jsonl +444 -0
  24. Image/env_airsim_16/astar_data/medium_average/2025-1-9_13-35-28_446340713/pose.jsonl +288 -0
  25. Image/env_airsim_16/astar_data/medium_average/2025-1-9_13-43-23_105575579/pose.jsonl +392 -0
  26. Image/env_airsim_16/astar_data/medium_average/2025-1-9_13-48-54_110613202/pose.jsonl +561 -0
  27. Image/env_airsim_16/astar_data/medium_average/2025-1-9_13-51-21_255789528/pose.jsonl +483 -0
  28. Image/env_airsim_16/astar_data/medium_average/2025-1-9_14-1-5_739273303/pose.jsonl +639 -0
  29. Image/env_airsim_16/astar_data/medium_average/2025-1-9_14-55-51_1376035217/pose.jsonl +639 -0
  30. Image/env_airsim_16/astar_data/medium_average/2025-1-9_15-45-31_639806732/pose.jsonl +496 -0
  31. Image/env_airsim_16/astar_data/medium_average/2025-1-9_15-45-6_1615935710/pose.jsonl +574 -0
  32. Image/env_airsim_16/astar_data/medium_average/2025-1-9_15-8-21_1190668363/pose.jsonl +639 -0
  33. Image/env_airsim_16/astar_data/medium_average/2025-1-9_15-9-48_773319847/pose.jsonl +470 -0
  34. Image/env_airsim_16/astar_data/medium_average/2025-1-9_16-31-43_1891252715/pose.jsonl +444 -0
  35. Image/env_airsim_16/astar_data/medium_average/2025-1-9_16-42-22_1131884850/pose.jsonl +54 -0
  36. Image/env_airsim_16/astar_data/medium_average/2025-1-9_16-45-40_1766146081/pose.jsonl +626 -0
  37. Image/env_airsim_16/astar_data/medium_average/2025-1-9_16-46-20_1979015720/pose.jsonl +535 -0
  38. Image/env_airsim_16/astar_data/medium_average/2025-1-9_16-54-18_420687483/pose.jsonl +561 -0
  39. Image/env_airsim_16/astar_data/medium_average/2025-1-9_16-59-4_428903682/pose.jsonl +470 -0
  40. Image/env_airsim_16/astar_data/medium_average/2025-1-9_17-13-35_846621269/pose.jsonl +457 -0
  41. Image/env_airsim_16/astar_data/medium_average/2025-1-9_17-21-18_1844400657/pose.jsonl +496 -0
  42. Image/env_airsim_16/astar_data/medium_average/2025-1-9_17-23-4_1934392735/pose.jsonl +509 -0
  43. Image/env_airsim_16/astar_data/medium_average/2025-1-9_17-49-39_2083149517/pose.jsonl +171 -0
  44. Image/env_airsim_16/astar_data/medium_average/2025-1-9_17-5-52_61101360/pose.jsonl +561 -0
  45. Image/env_airsim_16/astar_data/medium_average/2025-1-9_17-55-5_987706141/pose.jsonl +483 -0
  46. Image/env_airsim_16/astar_data/medium_average/2025-1-9_17-6-15_1267889618/pose.jsonl +470 -0
  47. Image/env_airsim_16/astar_data/medium_average/2025-1-9_18-11-14_2138982933/pose.jsonl +431 -0
  48. Image/env_airsim_16/astar_data/medium_average/2025-1-9_18-18-32_1451042659/pose.jsonl +665 -0
  49. Image/env_airsim_16/astar_data/medium_average/2025-1-9_18-18-59_1868423919/pose.jsonl +509 -0
  50. Image/env_airsim_16/astar_data/medium_average/2025-1-9_18-39-39_482417719/pose.jsonl +587 -0
Image/env_airsim_16/astar_data/medium_average/2025-01-19_03-12-51_906855/pose.jsonl ADDED
@@ -0,0 +1,626 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -107.4471008403851,
6
+ -231.48963781192444,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go up",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -107.4471008403851,
19
+ -231.48963781192444,
20
+ 33.45824585413169
21
+ ],
22
+ "type": "go up",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -107.4471008403851,
32
+ -231.48963781192444,
33
+ 36.45824585413169
34
+ ],
35
+ "type": "go up",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -107.4471008403851,
45
+ -231.48963781192444,
46
+ 39.45824585413169
47
+ ],
48
+ "type": "go up",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -107.4471008403851,
58
+ -231.48963781192444,
59
+ 42.45824585413169
60
+ ],
61
+ "type": "go up",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -107.4471008403851,
71
+ -231.48963781192444,
72
+ 45.45824585413169
73
+ ],
74
+ "type": "go up",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -107.4471008403851,
84
+ -231.48963781192444,
85
+ 48.45824585413169
86
+ ],
87
+ "type": "turn left",
88
+ "value": 30,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -107.4471008403851,
97
+ -231.48963781192444,
98
+ 48.45824585413169
99
+ ],
100
+ "type": "turn left",
101
+ "value": 30,
102
+ "yaw": 0.5235987755982988
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -107.4471008403851,
110
+ -231.48963781192444,
111
+ 48.45824585413169
112
+ ],
113
+ "type": "turn left",
114
+ "value": 30,
115
+ "yaw": 1.0471975511965976
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -107.4471008403851,
123
+ -231.48963781192444,
124
+ 48.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -107.4471008403851,
136
+ -228.48963781192444,
137
+ 48.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -107.4471008403851,
149
+ -225.48963781192444,
150
+ 48.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -107.4471008403851,
162
+ -222.48963781192444,
163
+ 48.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -107.4471008403851,
175
+ -219.48963781192444,
176
+ 48.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -107.4471008403851,
188
+ -216.48963781192444,
189
+ 48.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -107.4471008403851,
201
+ -213.48963781192444,
202
+ 48.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -107.4471008403851,
214
+ -210.48963781192444,
215
+ 48.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -107.4471008403851,
227
+ -207.48963781192444,
228
+ 48.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -107.4471008403851,
240
+ -204.48963781192444,
241
+ 48.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -107.4471008403851,
253
+ -201.48963781192444,
254
+ 48.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -107.4471008403851,
266
+ -198.48963781192444,
267
+ 48.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -107.4471008403851,
279
+ -195.48963781192444,
280
+ 48.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -107.4471008403851,
292
+ -192.48963781192444,
293
+ 48.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -107.4471008403851,
305
+ -189.48963781192444,
306
+ 48.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -107.4471008403851,
318
+ -186.48963781192444,
319
+ 48.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 1.5707963267948966
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -107.4471008403851,
331
+ -183.48963781192444,
332
+ 48.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 1.5707963267948966
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -107.4471008403851,
344
+ -180.48963781192444,
345
+ 48.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 1.5707963267948966
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -107.4471008403851,
357
+ -177.48963781192444,
358
+ 48.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": 1.5707963267948966
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -107.4471008403851,
370
+ -174.48963781192444,
371
+ 48.45824585413169
372
+ ],
373
+ "type": "go up",
374
+ "value": 3,
375
+ "yaw": 1.5707963267948966
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -107.4471008403851,
383
+ -174.48963781192444,
384
+ 51.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": 1.5707963267948966
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -107.4471008403851,
396
+ -171.48963781192444,
397
+ 51.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": 1.5707963267948966
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -107.4471008403851,
409
+ -168.48963781192444,
410
+ 51.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": 1.5707963267948966
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -107.4471008403851,
422
+ -165.48963781192444,
423
+ 51.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": 1.5707963267948966
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -107.4471008403851,
435
+ -162.48963781192444,
436
+ 51.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": 1.5707963267948966
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -107.4471008403851,
448
+ -159.48963781192444,
449
+ 51.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": 1.5707963267948966
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -107.4471008403851,
461
+ -156.48963781192444,
462
+ 51.45824585413169
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": 1.5707963267948966
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -107.4471008403851,
474
+ -153.48963781192444,
475
+ 51.45824585413169
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": 1.5707963267948966
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -107.4471008403851,
487
+ -150.48963781192444,
488
+ 51.45824585413169
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": 1.5707963267948966
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ -107.4471008403851,
500
+ -147.48963781192444,
501
+ 51.45824585413169
502
+ ],
503
+ "type": "go straight",
504
+ "value": 3,
505
+ "yaw": 1.5707963267948966
506
+ }
507
+ }
508
+ {
509
+ "action": {
510
+ "imageid": 39,
511
+ "pos": [
512
+ -107.4471008403851,
513
+ -144.48963781192444,
514
+ 51.45824585413169
515
+ ],
516
+ "type": "go down",
517
+ "value": 3,
518
+ "yaw": 1.5707963267948966
519
+ }
520
+ }
521
+ {
522
+ "action": {
523
+ "imageid": 40,
524
+ "pos": [
525
+ -107.4471008403851,
526
+ -144.48963781192444,
527
+ 48.45824585413169
528
+ ],
529
+ "type": "go down",
530
+ "value": 3,
531
+ "yaw": 1.5707963267948966
532
+ }
533
+ }
534
+ {
535
+ "action": {
536
+ "imageid": 41,
537
+ "pos": [
538
+ -107.4471008403851,
539
+ -144.48963781192444,
540
+ 45.45824585413169
541
+ ],
542
+ "type": "go down",
543
+ "value": 3,
544
+ "yaw": 1.5707963267948966
545
+ }
546
+ }
547
+ {
548
+ "action": {
549
+ "imageid": 42,
550
+ "pos": [
551
+ -107.4471008403851,
552
+ -144.48963781192444,
553
+ 42.45824585413169
554
+ ],
555
+ "type": "go down",
556
+ "value": 3,
557
+ "yaw": 1.5707963267948966
558
+ }
559
+ }
560
+ {
561
+ "action": {
562
+ "imageid": 43,
563
+ "pos": [
564
+ -107.4471008403851,
565
+ -144.48963781192444,
566
+ 39.45824585413169
567
+ ],
568
+ "type": "go down",
569
+ "value": 3,
570
+ "yaw": 1.5707963267948966
571
+ }
572
+ }
573
+ {
574
+ "action": {
575
+ "imageid": 44,
576
+ "pos": [
577
+ -107.4471008403851,
578
+ -144.48963781192444,
579
+ 36.45824585413169
580
+ ],
581
+ "type": "go down",
582
+ "value": 3,
583
+ "yaw": 1.5707963267948966
584
+ }
585
+ }
586
+ {
587
+ "action": {
588
+ "imageid": 45,
589
+ "pos": [
590
+ -107.4471008403851,
591
+ -144.48963781192444,
592
+ 33.45824585413169
593
+ ],
594
+ "type": "go down",
595
+ "value": 3,
596
+ "yaw": 1.5707963267948966
597
+ }
598
+ }
599
+ {
600
+ "action": {
601
+ "imageid": 46,
602
+ "pos": [
603
+ -107.4471008403851,
604
+ -144.48963781192444,
605
+ 30.45824585413169
606
+ ],
607
+ "type": "stop",
608
+ "value": 0,
609
+ "yaw": 1.5707963267948966
610
+ }
611
+ }
612
+ {
613
+ "aim_landmark": {
614
+ "color": "test",
615
+ "feature": "test",
616
+ "position": [
617
+ -104.0,
618
+ -128.0,
619
+ 43.732
620
+ ],
621
+ "shape": "test",
622
+ "dir": "center",
623
+ "size": "test",
624
+ "type": "building"
625
+ }
626
+ }
Image/env_airsim_16/astar_data/medium_average/2025-01-19_03-14-11_776878/pose.jsonl ADDED
@@ -0,0 +1,769 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -801.8723360759578,
6
+ -395.5129093244699,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.617993877991485
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -804.4704122873111,
19
+ -394.0129093244699,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.617993877991485
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -807.0684884986645,
32
+ -392.5129093244699,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "turn left",
36
+ "value": 30,
37
+ "yaw": 2.6179938779915037
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -807.0684884986645,
45
+ -392.5129093244699,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 3.1415926535898024
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -810.0684884986645,
58
+ -392.5129093244699,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 3.141592653589793
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -813.0684884986645,
71
+ -392.5129093244699,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "turn right",
75
+ "value": 30,
76
+ "yaw": 3.141592653589793
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -813.0684884986645,
84
+ -392.5129093244699,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "turn right",
88
+ "value": 30,
89
+ "yaw": 2.6179938779914944
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -813.0684884986645,
97
+ -392.5129093244699,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.0943951023931957
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -814.5684884986645,
110
+ -389.9148331131166,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -816.0684884986645,
123
+ -387.31675690176326,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -817.5684884986645,
136
+ -384.71868069040994,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -819.0684884986645,
149
+ -382.1206044790566,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -820.5684884986645,
162
+ -379.5225282677033,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -822.0684884986645,
175
+ -376.92445205635,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -823.5684884986645,
188
+ -374.3263758449967,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -825.0684884986645,
201
+ -371.72829963364336,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -826.5684884986645,
214
+ -369.13022342229004,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -828.0684884986645,
227
+ -366.5321472109367,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -829.5684884986645,
240
+ -363.9340709995834,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -831.0684884986645,
253
+ -361.3359947882301,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "turn right",
257
+ "value": 30,
258
+ "yaw": 2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -831.0684884986645,
266
+ -361.3359947882301,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -831.0684884986645,
279
+ -358.3359947882301,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -831.0684884986645,
292
+ -355.3359947882301,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -831.0684884986645,
305
+ -352.3359947882301,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -831.0684884986645,
318
+ -349.3359947882301,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 1.5707963267948966
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -831.0684884986645,
331
+ -346.3359947882301,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 1.5707963267948966
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -831.0684884986645,
344
+ -343.3359947882301,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go up",
348
+ "value": 3,
349
+ "yaw": 1.5707963267948966
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -831.0684884986645,
357
+ -343.3359947882301,
358
+ 33.45824585413169
359
+ ],
360
+ "type": "go up",
361
+ "value": 3,
362
+ "yaw": 1.5707963267948966
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -831.0684884986645,
370
+ -343.3359947882301,
371
+ 36.45824585413169
372
+ ],
373
+ "type": "go up",
374
+ "value": 3,
375
+ "yaw": 1.5707963267948966
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -831.0684884986645,
383
+ -343.3359947882301,
384
+ 39.45824585413169
385
+ ],
386
+ "type": "turn left",
387
+ "value": 30,
388
+ "yaw": 1.5707963267948966
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -831.0684884986645,
396
+ -343.3359947882301,
397
+ 39.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": 2.0943951023931953
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -832.5684884986645,
409
+ -340.7379185768768,
410
+ 39.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": 2.0943951023931953
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -834.0684884986645,
422
+ -338.13984236552346,
423
+ 39.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": 2.0943951023931953
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -835.5684884986645,
435
+ -335.54176615417015,
436
+ 39.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": 2.0943951023931953
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -837.0684884986645,
448
+ -332.94368994281683,
449
+ 39.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": 2.0943951023931953
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -838.5684884986645,
461
+ -330.3456137314635,
462
+ 39.45824585413169
463
+ ],
464
+ "type": "go up",
465
+ "value": 3,
466
+ "yaw": 2.0943951023931953
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -838.5684884986645,
474
+ -330.3456137314635,
475
+ 42.45824585413169
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": 2.0943951023931953
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -840.0684884986645,
487
+ -327.7475375201102,
488
+ 42.45824585413169
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": 2.0943951023931953
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ -841.5684884986645,
500
+ -325.1494613087569,
501
+ 42.45824585413169
502
+ ],
503
+ "type": "go straight",
504
+ "value": 3,
505
+ "yaw": 2.0943951023931953
506
+ }
507
+ }
508
+ {
509
+ "action": {
510
+ "imageid": 39,
511
+ "pos": [
512
+ -843.0684884986645,
513
+ -322.55138509740357,
514
+ 42.45824585413169
515
+ ],
516
+ "type": "go straight",
517
+ "value": 3,
518
+ "yaw": 2.0943951023931953
519
+ }
520
+ }
521
+ {
522
+ "action": {
523
+ "imageid": 40,
524
+ "pos": [
525
+ -844.5684884986645,
526
+ -319.95330888605025,
527
+ 42.45824585413169
528
+ ],
529
+ "type": "go straight",
530
+ "value": 3,
531
+ "yaw": 2.0943951023931953
532
+ }
533
+ }
534
+ {
535
+ "action": {
536
+ "imageid": 41,
537
+ "pos": [
538
+ -846.0684884986645,
539
+ -317.35523267469694,
540
+ 42.45824585413169
541
+ ],
542
+ "type": "go straight",
543
+ "value": 3,
544
+ "yaw": 2.0943951023931953
545
+ }
546
+ }
547
+ {
548
+ "action": {
549
+ "imageid": 42,
550
+ "pos": [
551
+ -847.5684884986645,
552
+ -314.7571564633436,
553
+ 42.45824585413169
554
+ ],
555
+ "type": "go straight",
556
+ "value": 3,
557
+ "yaw": 2.0943951023931953
558
+ }
559
+ }
560
+ {
561
+ "action": {
562
+ "imageid": 43,
563
+ "pos": [
564
+ -849.0684884986645,
565
+ -312.1590802519903,
566
+ 42.45824585413169
567
+ ],
568
+ "type": "go straight",
569
+ "value": 3,
570
+ "yaw": 2.0943951023931953
571
+ }
572
+ }
573
+ {
574
+ "action": {
575
+ "imageid": 44,
576
+ "pos": [
577
+ -850.5684884986645,
578
+ -309.561004040637,
579
+ 42.45824585413169
580
+ ],
581
+ "type": "go straight",
582
+ "value": 3,
583
+ "yaw": 2.0943951023931953
584
+ }
585
+ }
586
+ {
587
+ "action": {
588
+ "imageid": 45,
589
+ "pos": [
590
+ -852.0684884986645,
591
+ -306.9629278292837,
592
+ 42.45824585413169
593
+ ],
594
+ "type": "go straight",
595
+ "value": 3,
596
+ "yaw": 2.0943951023931953
597
+ }
598
+ }
599
+ {
600
+ "action": {
601
+ "imageid": 46,
602
+ "pos": [
603
+ -853.5684884986645,
604
+ -304.36485161793036,
605
+ 42.45824585413169
606
+ ],
607
+ "type": "go straight",
608
+ "value": 3,
609
+ "yaw": 2.0943951023931953
610
+ }
611
+ }
612
+ {
613
+ "action": {
614
+ "imageid": 47,
615
+ "pos": [
616
+ -855.0684884986645,
617
+ -301.76677540657704,
618
+ 42.45824585413169
619
+ ],
620
+ "type": "go straight",
621
+ "value": 3,
622
+ "yaw": 2.0943951023931953
623
+ }
624
+ }
625
+ {
626
+ "action": {
627
+ "imageid": 48,
628
+ "pos": [
629
+ -856.5684884986645,
630
+ -299.1686991952237,
631
+ 42.45824585413169
632
+ ],
633
+ "type": "go straight",
634
+ "value": 3,
635
+ "yaw": 2.0943951023931953
636
+ }
637
+ }
638
+ {
639
+ "action": {
640
+ "imageid": 49,
641
+ "pos": [
642
+ -858.0684884986645,
643
+ -296.5706229838704,
644
+ 42.45824585413169
645
+ ],
646
+ "type": "go straight",
647
+ "value": 3,
648
+ "yaw": 2.0943951023931953
649
+ }
650
+ }
651
+ {
652
+ "action": {
653
+ "imageid": 50,
654
+ "pos": [
655
+ -859.5684884986645,
656
+ -293.9725467725171,
657
+ 42.45824585413169
658
+ ],
659
+ "type": "go straight",
660
+ "value": 3,
661
+ "yaw": 2.0943951023931953
662
+ }
663
+ }
664
+ {
665
+ "action": {
666
+ "imageid": 51,
667
+ "pos": [
668
+ -861.0684884986645,
669
+ -291.3744705611638,
670
+ 42.45824585413169
671
+ ],
672
+ "type": "go down",
673
+ "value": 3,
674
+ "yaw": 2.0943951023931953
675
+ }
676
+ }
677
+ {
678
+ "action": {
679
+ "imageid": 52,
680
+ "pos": [
681
+ -861.0684884986645,
682
+ -291.3744705611638,
683
+ 39.45824585413169
684
+ ],
685
+ "type": "go down",
686
+ "value": 3,
687
+ "yaw": 2.0943951023931953
688
+ }
689
+ }
690
+ {
691
+ "action": {
692
+ "imageid": 53,
693
+ "pos": [
694
+ -861.0684884986645,
695
+ -291.3744705611638,
696
+ 36.45824585413169
697
+ ],
698
+ "type": "go down",
699
+ "value": 3,
700
+ "yaw": 2.0943951023931953
701
+ }
702
+ }
703
+ {
704
+ "action": {
705
+ "imageid": 54,
706
+ "pos": [
707
+ -861.0684884986645,
708
+ -291.3744705611638,
709
+ 33.45824585413169
710
+ ],
711
+ "type": "turn right",
712
+ "value": 30,
713
+ "yaw": 2.0943951023931953
714
+ }
715
+ }
716
+ {
717
+ "action": {
718
+ "imageid": 55,
719
+ "pos": [
720
+ -861.0684884986645,
721
+ -291.3744705611638,
722
+ 33.45824585413169
723
+ ],
724
+ "type": "go straight",
725
+ "value": 3,
726
+ "yaw": 1.5707963267948966
727
+ }
728
+ }
729
+ {
730
+ "action": {
731
+ "imageid": 56,
732
+ "pos": [
733
+ -861.0684884986645,
734
+ -288.3744705611638,
735
+ 33.45824585413169
736
+ ],
737
+ "type": "go straight",
738
+ "value": 3,
739
+ "yaw": 1.5707963267948966
740
+ }
741
+ }
742
+ {
743
+ "action": {
744
+ "imageid": 57,
745
+ "pos": [
746
+ -861.0684884986645,
747
+ -285.3744705611638,
748
+ 33.45824585413169
749
+ ],
750
+ "type": "stop",
751
+ "value": 0,
752
+ "yaw": 1.5707963267948966
753
+ }
754
+ }
755
+ {
756
+ "aim_landmark": {
757
+ "color": "test",
758
+ "feature": "test",
759
+ "position": [
760
+ -868.0,
761
+ -272.0,
762
+ 35.879
763
+ ],
764
+ "shape": "test",
765
+ "dir": "left",
766
+ "size": "test",
767
+ "type": "building"
768
+ }
769
+ }
Image/env_airsim_16/astar_data/medium_average/2025-01-19_03-22-03_162712/pose.jsonl ADDED
@@ -0,0 +1,704 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -118.32790564797925,
6
+ -92.69517599900917,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -115.32790564797925,
19
+ -92.69517599900917,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -112.32790564797925,
32
+ -92.69517599900917,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -109.32790564797925,
45
+ -92.69517599900917,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -106.32790564797925,
58
+ -92.69517599900917,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -103.32790564797925,
71
+ -92.69517599900917,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -100.32790564797925,
84
+ -92.69517599900917,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "turn right",
88
+ "value": 30,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -100.32790564797925,
97
+ -92.69517599900917,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "turn right",
101
+ "value": 30,
102
+ "yaw": -0.5235987755982988
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -100.32790564797925,
110
+ -92.69517599900917,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965976
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -98.82790564797925,
123
+ -95.29325221036248,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -97.32790564797925,
136
+ -97.8913284217158,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -95.82790564797925,
149
+ -100.48940463306911,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -94.32790564797925,
162
+ -103.08748084442243,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -92.82790564797925,
175
+ -105.68555705577575,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -91.32790564797925,
188
+ -108.28363326712906,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -89.82790564797925,
201
+ -110.88170947848238,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -88.32790564797925,
214
+ -113.4797856898357,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -86.82790564797925,
227
+ -116.07786190118901,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go up",
231
+ "value": 3,
232
+ "yaw": -1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -86.82790564797925,
240
+ -116.07786190118901,
241
+ 33.45824585413169
242
+ ],
243
+ "type": "go up",
244
+ "value": 3,
245
+ "yaw": -1.0471975511965979
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -86.82790564797925,
253
+ -116.07786190118901,
254
+ 36.45824585413169
255
+ ],
256
+ "type": "go up",
257
+ "value": 3,
258
+ "yaw": -1.0471975511965979
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -86.82790564797925,
266
+ -116.07786190118901,
267
+ 39.45824585413169
268
+ ],
269
+ "type": "turn left",
270
+ "value": 30,
271
+ "yaw": -1.0471975511965979
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -86.82790564797925,
279
+ -116.07786190118901,
280
+ 39.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -0.523598775598299
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -84.22982943662593,
292
+ -117.57786190118901,
293
+ 39.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -0.5235987755982988
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -81.63175322527262,
305
+ -119.07786190118901,
306
+ 39.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -0.5235987755982988
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -79.0336770139193,
318
+ -120.57786190118901,
319
+ 39.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -0.5235987755982988
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -76.43560080256599,
331
+ -122.07786190118901,
332
+ 39.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -0.5235987755982988
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -73.83752459121267,
344
+ -123.57786190118901,
345
+ 39.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -0.5235987755982988
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -71.23944837985935,
357
+ -125.07786190118901,
358
+ 39.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": -0.5235987755982988
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -68.64137216850604,
370
+ -126.57786190118901,
371
+ 39.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": -0.5235987755982988
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -66.04329595715272,
383
+ -128.077861901189,
384
+ 39.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": -0.5235987755982988
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -63.445219745799406,
396
+ -129.577861901189,
397
+ 39.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": -0.5235987755982988
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -60.84714353444609,
409
+ -131.077861901189,
410
+ 39.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": -0.5235987755982988
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -58.249067323092774,
422
+ -132.577861901189,
423
+ 39.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": -0.5235987755982988
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -55.65099111173946,
435
+ -134.077861901189,
436
+ 39.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": -0.5235987755982988
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -53.05291490038614,
448
+ -135.577861901189,
449
+ 39.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": -0.5235987755982988
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -50.454838689032826,
461
+ -137.077861901189,
462
+ 39.45824585413169
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": -0.5235987755982988
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -47.85676247767951,
474
+ -138.577861901189,
475
+ 39.45824585413169
476
+ ],
477
+ "type": "turn right",
478
+ "value": 30,
479
+ "yaw": -0.5235987755982988
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -47.85676247767951,
487
+ -138.577861901189,
488
+ 39.45824585413169
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": -1.0471975511965976
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ -46.35676247767951,
500
+ -141.17593811254233,
501
+ 39.45824585413169
502
+ ],
503
+ "type": "go straight",
504
+ "value": 3,
505
+ "yaw": -1.0471975511965979
506
+ }
507
+ }
508
+ {
509
+ "action": {
510
+ "imageid": 39,
511
+ "pos": [
512
+ -44.85676247767951,
513
+ -143.77401432389564,
514
+ 39.45824585413169
515
+ ],
516
+ "type": "go straight",
517
+ "value": 3,
518
+ "yaw": -1.0471975511965979
519
+ }
520
+ }
521
+ {
522
+ "action": {
523
+ "imageid": 40,
524
+ "pos": [
525
+ -43.35676247767951,
526
+ -146.37209053524896,
527
+ 39.45824585413169
528
+ ],
529
+ "type": "go straight",
530
+ "value": 3,
531
+ "yaw": -1.0471975511965979
532
+ }
533
+ }
534
+ {
535
+ "action": {
536
+ "imageid": 41,
537
+ "pos": [
538
+ -41.85676247767951,
539
+ -148.97016674660227,
540
+ 39.45824585413169
541
+ ],
542
+ "type": "go straight",
543
+ "value": 3,
544
+ "yaw": -1.0471975511965979
545
+ }
546
+ }
547
+ {
548
+ "action": {
549
+ "imageid": 42,
550
+ "pos": [
551
+ -40.35676247767951,
552
+ -151.5682429579556,
553
+ 39.45824585413169
554
+ ],
555
+ "type": "go straight",
556
+ "value": 3,
557
+ "yaw": -1.0471975511965979
558
+ }
559
+ }
560
+ {
561
+ "action": {
562
+ "imageid": 43,
563
+ "pos": [
564
+ -38.85676247767951,
565
+ -154.1663191693089,
566
+ 39.45824585413169
567
+ ],
568
+ "type": "go straight",
569
+ "value": 3,
570
+ "yaw": -1.0471975511965979
571
+ }
572
+ }
573
+ {
574
+ "action": {
575
+ "imageid": 44,
576
+ "pos": [
577
+ -37.35676247767951,
578
+ -156.76439538066222,
579
+ 39.45824585413169
580
+ ],
581
+ "type": "go straight",
582
+ "value": 3,
583
+ "yaw": -1.0471975511965979
584
+ }
585
+ }
586
+ {
587
+ "action": {
588
+ "imageid": 45,
589
+ "pos": [
590
+ -35.85676247767951,
591
+ -159.36247159201554,
592
+ 39.45824585413169
593
+ ],
594
+ "type": "go straight",
595
+ "value": 3,
596
+ "yaw": -1.0471975511965979
597
+ }
598
+ }
599
+ {
600
+ "action": {
601
+ "imageid": 46,
602
+ "pos": [
603
+ -34.35676247767951,
604
+ -161.96054780336885,
605
+ 39.45824585413169
606
+ ],
607
+ "type": "go straight",
608
+ "value": 3,
609
+ "yaw": -1.0471975511965979
610
+ }
611
+ }
612
+ {
613
+ "action": {
614
+ "imageid": 47,
615
+ "pos": [
616
+ -32.85676247767951,
617
+ -164.55862401472217,
618
+ 39.45824585413169
619
+ ],
620
+ "type": "go straight",
621
+ "value": 3,
622
+ "yaw": -1.0471975511965979
623
+ }
624
+ }
625
+ {
626
+ "action": {
627
+ "imageid": 48,
628
+ "pos": [
629
+ -31.35676247767951,
630
+ -167.1567002260755,
631
+ 39.45824585413169
632
+ ],
633
+ "type": "go straight",
634
+ "value": 3,
635
+ "yaw": -1.0471975511965979
636
+ }
637
+ }
638
+ {
639
+ "action": {
640
+ "imageid": 49,
641
+ "pos": [
642
+ -29.85676247767951,
643
+ -169.7547764374288,
644
+ 39.45824585413169
645
+ ],
646
+ "type": "go down",
647
+ "value": 3,
648
+ "yaw": -1.0471975511965979
649
+ }
650
+ }
651
+ {
652
+ "action": {
653
+ "imageid": 50,
654
+ "pos": [
655
+ -29.85676247767951,
656
+ -169.7547764374288,
657
+ 36.45824585413169
658
+ ],
659
+ "type": "go down",
660
+ "value": 3,
661
+ "yaw": -1.0471975511965979
662
+ }
663
+ }
664
+ {
665
+ "action": {
666
+ "imageid": 51,
667
+ "pos": [
668
+ -29.85676247767951,
669
+ -169.7547764374288,
670
+ 33.45824585413169
671
+ ],
672
+ "type": "go down",
673
+ "value": 3,
674
+ "yaw": -1.0471975511965979
675
+ }
676
+ }
677
+ {
678
+ "action": {
679
+ "imageid": 52,
680
+ "pos": [
681
+ -29.85676247767951,
682
+ -169.7547764374288,
683
+ 30.45824585413169
684
+ ],
685
+ "type": "stop",
686
+ "value": 0,
687
+ "yaw": -1.0471975511965979
688
+ }
689
+ }
690
+ {
691
+ "aim_landmark": {
692
+ "color": "test",
693
+ "feature": "test",
694
+ "position": [
695
+ -28.0,
696
+ -172.0,
697
+ 24.7254
698
+ ],
699
+ "shape": "test",
700
+ "dir": "center",
701
+ "size": "test",
702
+ "type": "building"
703
+ }
704
+ }
Image/env_airsim_16/astar_data/medium_average/2025-01-19_03-30-48_583520/pose.jsonl ADDED
@@ -0,0 +1,600 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -880.8111559151561,
6
+ -159.5397194326751,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.5235987755983084
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -878.2130797038028,
19
+ -158.0397194326751,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.5235987755983084
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -875.6150034924494,
32
+ -156.5397194326751,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.5235987755982894
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -873.0169272810961,
45
+ -155.0397194326751,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.5235987755982894
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -870.4188510697427,
58
+ -153.5397194326751,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.5235987755982894
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -867.8207748583893,
71
+ -152.0397194326751,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.5235987755982894
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -865.2226986470359,
84
+ -150.5397194326751,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go up",
88
+ "value": 3,
89
+ "yaw": 0.5235987755982894
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -865.2226986470359,
97
+ -150.5397194326751,
98
+ 33.45824585413169
99
+ ],
100
+ "type": "go up",
101
+ "value": 3,
102
+ "yaw": 0.5235987755982894
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -865.2226986470359,
110
+ -150.5397194326751,
111
+ 36.45824585413169
112
+ ],
113
+ "type": "go up",
114
+ "value": 3,
115
+ "yaw": 0.5235987755982894
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -865.2226986470359,
123
+ -150.5397194326751,
124
+ 39.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.5235987755982894
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -862.6246224356826,
136
+ -149.0397194326751,
137
+ 39.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.5235987755982894
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -860.0265462243292,
149
+ -147.5397194326751,
150
+ 39.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.5235987755982894
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -857.4284700129758,
162
+ -146.0397194326751,
163
+ 39.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.5235987755982894
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -854.8303938016224,
175
+ -144.5397194326751,
176
+ 39.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.5235987755982894
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -852.2323175902691,
188
+ -143.0397194326751,
189
+ 39.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.5235987755982894
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -849.6342413789157,
201
+ -141.5397194326751,
202
+ 39.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.5235987755982894
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -847.0361651675623,
214
+ -140.0397194326751,
215
+ 39.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.5235987755982894
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -844.438088956209,
227
+ -138.5397194326751,
228
+ 39.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.5235987755982894
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -841.8400127448556,
240
+ -137.0397194326751,
241
+ 39.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 0.5235987755982894
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -839.2419365335022,
253
+ -135.5397194326751,
254
+ 39.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 0.5235987755982894
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -836.6438603221488,
266
+ -134.0397194326751,
267
+ 39.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 0.5235987755982894
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -834.0457841107955,
279
+ -132.5397194326751,
280
+ 39.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 0.5235987755982894
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -831.4477078994421,
292
+ -131.0397194326751,
293
+ 39.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 0.5235987755982894
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -828.8496316880887,
305
+ -129.5397194326751,
306
+ 39.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 0.5235987755982894
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -826.2515554767353,
318
+ -128.0397194326751,
319
+ 39.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 0.5235987755982894
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -823.653479265382,
331
+ -126.5397194326751,
332
+ 39.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 0.5235987755982894
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -821.0554030540286,
344
+ -125.0397194326751,
345
+ 39.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 0.5235987755982894
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -818.4573268426752,
357
+ -123.5397194326751,
358
+ 39.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": 0.5235987755982894
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -815.8592506313219,
370
+ -122.0397194326751,
371
+ 39.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": 0.5235987755982894
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -813.2611744199685,
383
+ -120.5397194326751,
384
+ 39.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": 0.5235987755982894
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -810.6630982086151,
396
+ -119.0397194326751,
397
+ 39.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": 0.5235987755982894
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -808.0650219972617,
409
+ -117.5397194326751,
410
+ 39.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": 0.5235987755982894
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -805.4669457859084,
422
+ -116.0397194326751,
423
+ 39.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": 0.5235987755982894
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -802.868869574555,
435
+ -114.5397194326751,
436
+ 39.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": 0.5235987755982894
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -800.2707933632016,
448
+ -113.0397194326751,
449
+ 39.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": 0.5235987755982894
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -797.6727171518482,
461
+ -111.5397194326751,
462
+ 39.45824585413169
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": 0.5235987755982894
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -795.0746409404949,
474
+ -110.0397194326751,
475
+ 39.45824585413169
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": 0.5235987755982894
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -792.4765647291415,
487
+ -108.5397194326751,
488
+ 39.45824585413169
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": 0.5235987755982894
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ -789.8784885177881,
500
+ -107.0397194326751,
501
+ 39.45824585413169
502
+ ],
503
+ "type": "go straight",
504
+ "value": 3,
505
+ "yaw": 0.5235987755982894
506
+ }
507
+ }
508
+ {
509
+ "action": {
510
+ "imageid": 39,
511
+ "pos": [
512
+ -787.2804123064348,
513
+ -105.5397194326751,
514
+ 39.45824585413169
515
+ ],
516
+ "type": "go straight",
517
+ "value": 3,
518
+ "yaw": 0.5235987755982894
519
+ }
520
+ }
521
+ {
522
+ "action": {
523
+ "imageid": 40,
524
+ "pos": [
525
+ -784.6823360950814,
526
+ -104.0397194326751,
527
+ 39.45824585413169
528
+ ],
529
+ "type": "go straight",
530
+ "value": 3,
531
+ "yaw": 0.5235987755982894
532
+ }
533
+ }
534
+ {
535
+ "action": {
536
+ "imageid": 41,
537
+ "pos": [
538
+ -782.084259883728,
539
+ -102.5397194326751,
540
+ 39.45824585413169
541
+ ],
542
+ "type": "go down",
543
+ "value": 3,
544
+ "yaw": 0.5235987755982894
545
+ }
546
+ }
547
+ {
548
+ "action": {
549
+ "imageid": 42,
550
+ "pos": [
551
+ -782.084259883728,
552
+ -102.5397194326751,
553
+ 36.45824585413169
554
+ ],
555
+ "type": "go down",
556
+ "value": 3,
557
+ "yaw": 0.5235987755982894
558
+ }
559
+ }
560
+ {
561
+ "action": {
562
+ "imageid": 43,
563
+ "pos": [
564
+ -782.084259883728,
565
+ -102.5397194326751,
566
+ 33.45824585413169
567
+ ],
568
+ "type": "go down",
569
+ "value": 3,
570
+ "yaw": 0.5235987755982894
571
+ }
572
+ }
573
+ {
574
+ "action": {
575
+ "imageid": 44,
576
+ "pos": [
577
+ -782.084259883728,
578
+ -102.5397194326751,
579
+ 30.45824585413169
580
+ ],
581
+ "type": "stop",
582
+ "value": 0,
583
+ "yaw": 0.5235987755982894
584
+ }
585
+ }
586
+ {
587
+ "aim_landmark": {
588
+ "color": "test",
589
+ "feature": "test",
590
+ "position": [
591
+ -756.0,
592
+ -84.0,
593
+ 33.629
594
+ ],
595
+ "shape": "test",
596
+ "dir": "center",
597
+ "size": "test",
598
+ "type": "building"
599
+ }
600
+ }
Image/env_airsim_16/astar_data/medium_average/2025-01-19_03-53-22_789184/pose.jsonl ADDED
@@ -0,0 +1,743 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -989.6377672393046,
6
+ -58.92496514422835,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 3.141592653589793
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -992.6377672393046,
19
+ -58.92496514422835,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 3.141592653589793
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -995.6377672393046,
32
+ -58.92496514422835,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 3.141592653589793
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -998.6377672393046,
45
+ -58.92496514422835,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 3.141592653589793
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -1001.6377672393046,
58
+ -58.92496514422835,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 3.141592653589793
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -1004.6377672393046,
71
+ -58.92496514422835,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "turn left",
75
+ "value": 30,
76
+ "yaw": 3.141592653589793
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -1004.6377672393046,
84
+ -58.92496514422835,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "turn left",
88
+ "value": 30,
89
+ "yaw": 3.665191429188092
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -1004.6377672393046,
97
+ -58.92496514422835,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 4.1887902047863905
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -1006.1377672393046,
110
+ -61.52304135558167,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "turn right",
114
+ "value": 30,
115
+ "yaw": -2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -1006.1377672393046,
123
+ -61.52304135558167,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.617993877991494
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -1008.735843450658,
136
+ -63.02304135558167,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.6179938779915037
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -1011.3339196620113,
149
+ -64.52304135558167,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.6179938779915037
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -1013.9319958733647,
162
+ -66.02304135558167,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.6179938779915037
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -1016.5300720847181,
175
+ -67.52304135558167,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.6179938779915037
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -1019.1281482960715,
188
+ -69.02304135558167,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.6179938779915037
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -1021.7262245074248,
201
+ -70.52304135558167,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.6179938779915037
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -1024.3243007187782,
214
+ -72.02304135558167,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "turn left",
218
+ "value": 30,
219
+ "yaw": -2.6179938779915037
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -1024.3243007187782,
227
+ -72.02304135558167,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.094395102393205
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -1025.8243007187782,
240
+ -74.62111756693498,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -1027.3243007187782,
253
+ -77.2191937782883,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -1028.8243007187782,
266
+ -79.81726998964162,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -1030.3243007187782,
279
+ -82.41534620099493,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -2.0943951023931953
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -1031.8243007187782,
292
+ -85.01342241234825,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -2.0943951023931953
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -1033.3243007187782,
305
+ -87.61149862370156,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -2.0943951023931953
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -1034.8243007187782,
318
+ -90.20957483505488,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -2.0943951023931953
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -1036.3243007187782,
331
+ -92.8076510464082,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -2.0943951023931953
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -1037.8243007187782,
344
+ -95.40572725776151,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -2.0943951023931953
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -1039.3243007187782,
357
+ -98.00380346911483,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": -2.0943951023931953
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -1040.8243007187782,
370
+ -100.60187968046814,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": -2.0943951023931953
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -1042.3243007187782,
383
+ -103.19995589182146,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": -2.0943951023931953
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -1043.8243007187782,
396
+ -105.79803210317478,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": -2.0943951023931953
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -1045.3243007187782,
409
+ -108.39610831452809,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": -2.0943951023931953
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -1046.8243007187782,
422
+ -110.99418452588141,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": -2.0943951023931953
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -1048.3243007187782,
435
+ -113.59226073723472,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": -2.0943951023931953
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -1049.8243007187782,
448
+ -116.19033694858804,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "go up",
452
+ "value": 3,
453
+ "yaw": -2.0943951023931953
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -1049.8243007187782,
461
+ -116.19033694858804,
462
+ 33.45824585413169
463
+ ],
464
+ "type": "go up",
465
+ "value": 3,
466
+ "yaw": -2.0943951023931953
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -1049.8243007187782,
474
+ -116.19033694858804,
475
+ 36.45824585413169
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": -2.0943951023931953
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -1051.3243007187782,
487
+ -118.78841315994136,
488
+ 36.45824585413169
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": -2.0943951023931953
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ -1052.8243007187782,
500
+ -121.38648937129467,
501
+ 36.45824585413169
502
+ ],
503
+ "type": "go straight",
504
+ "value": 3,
505
+ "yaw": -2.0943951023931953
506
+ }
507
+ }
508
+ {
509
+ "action": {
510
+ "imageid": 39,
511
+ "pos": [
512
+ -1054.3243007187782,
513
+ -123.98456558264799,
514
+ 36.45824585413169
515
+ ],
516
+ "type": "go straight",
517
+ "value": 3,
518
+ "yaw": -2.0943951023931953
519
+ }
520
+ }
521
+ {
522
+ "action": {
523
+ "imageid": 40,
524
+ "pos": [
525
+ -1055.8243007187782,
526
+ -126.5826417940013,
527
+ 36.45824585413169
528
+ ],
529
+ "type": "go straight",
530
+ "value": 3,
531
+ "yaw": -2.0943951023931953
532
+ }
533
+ }
534
+ {
535
+ "action": {
536
+ "imageid": 41,
537
+ "pos": [
538
+ -1057.3243007187782,
539
+ -129.1807180053546,
540
+ 36.45824585413169
541
+ ],
542
+ "type": "go straight",
543
+ "value": 3,
544
+ "yaw": -2.094395102393198
545
+ }
546
+ }
547
+ {
548
+ "action": {
549
+ "imageid": 42,
550
+ "pos": [
551
+ -1058.8243007187782,
552
+ -131.77879421670792,
553
+ 36.45824585413169
554
+ ],
555
+ "type": "go straight",
556
+ "value": 3,
557
+ "yaw": -2.0943951023931953
558
+ }
559
+ }
560
+ {
561
+ "action": {
562
+ "imageid": 43,
563
+ "pos": [
564
+ -1060.3243007187782,
565
+ -134.37687042806124,
566
+ 36.45824585413169
567
+ ],
568
+ "type": "go straight",
569
+ "value": 3,
570
+ "yaw": -2.0943951023931953
571
+ }
572
+ }
573
+ {
574
+ "action": {
575
+ "imageid": 44,
576
+ "pos": [
577
+ -1061.8243007187782,
578
+ -136.97494663941455,
579
+ 36.45824585413169
580
+ ],
581
+ "type": "go straight",
582
+ "value": 3,
583
+ "yaw": -2.0943951023931953
584
+ }
585
+ }
586
+ {
587
+ "action": {
588
+ "imageid": 45,
589
+ "pos": [
590
+ -1063.3243007187782,
591
+ -139.57302285076787,
592
+ 36.45824585413169
593
+ ],
594
+ "type": "go straight",
595
+ "value": 3,
596
+ "yaw": -2.0943951023931953
597
+ }
598
+ }
599
+ {
600
+ "action": {
601
+ "imageid": 46,
602
+ "pos": [
603
+ -1064.8243007187782,
604
+ -142.1710990621212,
605
+ 36.45824585413169
606
+ ],
607
+ "type": "go straight",
608
+ "value": 3,
609
+ "yaw": -2.0943951023931953
610
+ }
611
+ }
612
+ {
613
+ "action": {
614
+ "imageid": 47,
615
+ "pos": [
616
+ -1066.3243007187782,
617
+ -144.7691752734745,
618
+ 36.45824585413169
619
+ ],
620
+ "type": "go straight",
621
+ "value": 3,
622
+ "yaw": -2.0943951023931953
623
+ }
624
+ }
625
+ {
626
+ "action": {
627
+ "imageid": 48,
628
+ "pos": [
629
+ -1067.8243007187782,
630
+ -147.36725148482782,
631
+ 36.45824585413169
632
+ ],
633
+ "type": "go straight",
634
+ "value": 3,
635
+ "yaw": -2.0943951023931953
636
+ }
637
+ }
638
+ {
639
+ "action": {
640
+ "imageid": 49,
641
+ "pos": [
642
+ -1069.3243007187782,
643
+ -149.96532769618113,
644
+ 36.45824585413169
645
+ ],
646
+ "type": "go straight",
647
+ "value": 3,
648
+ "yaw": -2.0943951023931953
649
+ }
650
+ }
651
+ {
652
+ "action": {
653
+ "imageid": 50,
654
+ "pos": [
655
+ -1070.8243007187782,
656
+ -152.56340390753445,
657
+ 36.45824585413169
658
+ ],
659
+ "type": "go straight",
660
+ "value": 3,
661
+ "yaw": -2.0943951023931953
662
+ }
663
+ }
664
+ {
665
+ "action": {
666
+ "imageid": 51,
667
+ "pos": [
668
+ -1072.3243007187782,
669
+ -155.16148011888777,
670
+ 36.45824585413169
671
+ ],
672
+ "type": "go down",
673
+ "value": 3,
674
+ "yaw": -2.0943951023931953
675
+ }
676
+ }
677
+ {
678
+ "action": {
679
+ "imageid": 52,
680
+ "pos": [
681
+ -1072.3243007187782,
682
+ -155.16148011888777,
683
+ 33.45824585413169
684
+ ],
685
+ "type": "go down",
686
+ "value": 3,
687
+ "yaw": -2.0943951023931953
688
+ }
689
+ }
690
+ {
691
+ "action": {
692
+ "imageid": 53,
693
+ "pos": [
694
+ -1072.3243007187782,
695
+ -155.16148011888777,
696
+ 30.45824585413169
697
+ ],
698
+ "type": "turn right",
699
+ "value": 30,
700
+ "yaw": -2.0943951023931953
701
+ }
702
+ }
703
+ {
704
+ "action": {
705
+ "imageid": 54,
706
+ "pos": [
707
+ -1072.3243007187782,
708
+ -155.16148011888777,
709
+ 30.45824585413169
710
+ ],
711
+ "type": "go straight",
712
+ "value": 3,
713
+ "yaw": -2.617993877991494
714
+ }
715
+ }
716
+ {
717
+ "action": {
718
+ "imageid": 55,
719
+ "pos": [
720
+ -1074.9223769301316,
721
+ -156.66148011888777,
722
+ 30.45824585413169
723
+ ],
724
+ "type": "stop",
725
+ "value": 0,
726
+ "yaw": -2.617993877991494
727
+ }
728
+ }
729
+ {
730
+ "aim_landmark": {
731
+ "color": "test",
732
+ "feature": "test",
733
+ "position": [
734
+ -1084.0,
735
+ -168.0,
736
+ 19.3087
737
+ ],
738
+ "shape": "test",
739
+ "dir": "center",
740
+ "size": "test",
741
+ "type": "building"
742
+ }
743
+ }
Image/env_airsim_16/astar_data/medium_average/2025-01-19_04-13-27_133166/pose.jsonl ADDED
@@ -0,0 +1,717 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1009.6652865266377,
6
+ -124.82013794595738,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -0.5235987755983084
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1007.0672103152845,
19
+ -126.32013794595738,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -0.5235987755983084
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1004.4691341039311,
32
+ -127.82013794595738,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -0.5235987755982894
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1001.8710578925777,
45
+ -129.32013794595738,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -0.5235987755982894
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -999.2729816812243,
58
+ -130.82013794595738,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go up",
62
+ "value": 3,
63
+ "yaw": -0.5235987755982894
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -999.2729816812243,
71
+ -130.82013794595738,
72
+ 33.45824585413169
73
+ ],
74
+ "type": "go up",
75
+ "value": 3,
76
+ "yaw": -0.5235987755982894
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -999.2729816812243,
84
+ -130.82013794595738,
85
+ 36.45824585413169
86
+ ],
87
+ "type": "go up",
88
+ "value": 3,
89
+ "yaw": -0.5235987755982894
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -999.2729816812243,
97
+ -130.82013794595738,
98
+ 39.45824585413169
99
+ ],
100
+ "type": "go up",
101
+ "value": 3,
102
+ "yaw": -0.5235987755982894
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -999.2729816812243,
110
+ -130.82013794595738,
111
+ 42.45824585413169
112
+ ],
113
+ "type": "go up",
114
+ "value": 3,
115
+ "yaw": -0.5235987755982894
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -999.2729816812243,
123
+ -130.82013794595738,
124
+ 45.45824585413169
125
+ ],
126
+ "type": "go up",
127
+ "value": 3,
128
+ "yaw": -0.5235987755982894
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -999.2729816812243,
136
+ -130.82013794595738,
137
+ 48.45824585413169
138
+ ],
139
+ "type": "go up",
140
+ "value": 3,
141
+ "yaw": -0.5235987755982894
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -999.2729816812243,
149
+ -130.82013794595738,
150
+ 51.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -0.5235987755982894
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -996.674905469871,
162
+ -132.32013794595738,
163
+ 51.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -0.5235987755982894
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -994.0768292585176,
175
+ -133.82013794595738,
176
+ 51.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -0.5235987755982894
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -991.4787530471642,
188
+ -135.32013794595738,
189
+ 51.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -0.5235987755982894
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -988.8806768358108,
201
+ -136.82013794595738,
202
+ 51.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -0.5235987755982894
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -986.2826006244575,
214
+ -138.32013794595738,
215
+ 51.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -0.5235987755982894
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -983.6845244131041,
227
+ -139.82013794595738,
228
+ 51.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -0.5235987755982894
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -981.0864482017507,
240
+ -141.32013794595738,
241
+ 51.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -0.5235987755982894
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -978.4883719903974,
253
+ -142.82013794595738,
254
+ 51.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -0.5235987755982894
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -975.890295779044,
266
+ -144.32013794595738,
267
+ 51.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -0.5235987755982894
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -973.2922195676906,
279
+ -145.82013794595738,
280
+ 51.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -0.5235987755982894
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -970.6941433563372,
292
+ -147.32013794595738,
293
+ 51.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -0.5235987755982894
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -968.0960671449839,
305
+ -148.82013794595738,
306
+ 51.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -0.5235987755982894
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -965.4979909336305,
318
+ -150.32013794595738,
319
+ 51.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -0.5235987755982894
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -962.8999147222771,
331
+ -151.82013794595738,
332
+ 51.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -0.5235987755982894
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -960.3018385109237,
344
+ -153.32013794595738,
345
+ 51.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -0.5235987755982894
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -957.7037622995704,
357
+ -154.82013794595738,
358
+ 51.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": -0.5235987755982894
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -955.105686088217,
370
+ -156.32013794595738,
371
+ 51.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": -0.5235987755982894
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -952.5076098768636,
383
+ -157.82013794595738,
384
+ 51.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": -0.5235987755982894
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -949.9095336655103,
396
+ -159.32013794595738,
397
+ 51.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": -0.5235987755982894
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -947.3114574541569,
409
+ -160.82013794595738,
410
+ 51.45824585413169
411
+ ],
412
+ "type": "turn right",
413
+ "value": 30,
414
+ "yaw": -0.5235987755982894
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -947.3114574541569,
422
+ -160.82013794595738,
423
+ 51.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": -1.047197551196588
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -945.8114574541569,
435
+ -163.4182141573107,
436
+ 51.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": -1.0471975511965979
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -944.3114574541569,
448
+ -166.01629036866402,
449
+ 51.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": -1.0471975511965979
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -942.8114574541569,
461
+ -168.61436658001733,
462
+ 51.45824585413169
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": -1.0471975511965979
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -941.3114574541569,
474
+ -171.21244279137065,
475
+ 51.45824585413169
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": -1.0471975511965979
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -939.8114574541569,
487
+ -173.81051900272396,
488
+ 51.45824585413169
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": -1.0471975511965979
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ -938.3114574541569,
500
+ -176.40859521407728,
501
+ 51.45824585413169
502
+ ],
503
+ "type": "go straight",
504
+ "value": 3,
505
+ "yaw": -1.0471975511965979
506
+ }
507
+ }
508
+ {
509
+ "action": {
510
+ "imageid": 39,
511
+ "pos": [
512
+ -936.8114574541569,
513
+ -179.0066714254306,
514
+ 51.45824585413169
515
+ ],
516
+ "type": "go straight",
517
+ "value": 3,
518
+ "yaw": -1.0471975511965979
519
+ }
520
+ }
521
+ {
522
+ "action": {
523
+ "imageid": 40,
524
+ "pos": [
525
+ -935.3114574541569,
526
+ -181.6047476367839,
527
+ 51.45824585413169
528
+ ],
529
+ "type": "go straight",
530
+ "value": 3,
531
+ "yaw": -1.0471975511965979
532
+ }
533
+ }
534
+ {
535
+ "action": {
536
+ "imageid": 41,
537
+ "pos": [
538
+ -933.8114574541569,
539
+ -184.20282384813723,
540
+ 51.45824585413169
541
+ ],
542
+ "type": "go straight",
543
+ "value": 3,
544
+ "yaw": -1.0471975511965979
545
+ }
546
+ }
547
+ {
548
+ "action": {
549
+ "imageid": 42,
550
+ "pos": [
551
+ -932.3114574541569,
552
+ -186.80090005949054,
553
+ 51.45824585413169
554
+ ],
555
+ "type": "go down",
556
+ "value": 3,
557
+ "yaw": -1.0471975511965979
558
+ }
559
+ }
560
+ {
561
+ "action": {
562
+ "imageid": 43,
563
+ "pos": [
564
+ -932.3114574541569,
565
+ -186.80090005949054,
566
+ 48.45824585413169
567
+ ],
568
+ "type": "go down",
569
+ "value": 3,
570
+ "yaw": -1.0471975511965979
571
+ }
572
+ }
573
+ {
574
+ "action": {
575
+ "imageid": 44,
576
+ "pos": [
577
+ -932.3114574541569,
578
+ -186.80090005949054,
579
+ 45.45824585413169
580
+ ],
581
+ "type": "go down",
582
+ "value": 3,
583
+ "yaw": -1.0471975511965979
584
+ }
585
+ }
586
+ {
587
+ "action": {
588
+ "imageid": 45,
589
+ "pos": [
590
+ -932.3114574541569,
591
+ -186.80090005949054,
592
+ 42.45824585413169
593
+ ],
594
+ "type": "go down",
595
+ "value": 3,
596
+ "yaw": -1.0471975511965979
597
+ }
598
+ }
599
+ {
600
+ "action": {
601
+ "imageid": 46,
602
+ "pos": [
603
+ -932.3114574541569,
604
+ -186.80090005949054,
605
+ 39.45824585413169
606
+ ],
607
+ "type": "go down",
608
+ "value": 3,
609
+ "yaw": -1.0471975511965979
610
+ }
611
+ }
612
+ {
613
+ "action": {
614
+ "imageid": 47,
615
+ "pos": [
616
+ -932.3114574541569,
617
+ -186.80090005949054,
618
+ 36.45824585413169
619
+ ],
620
+ "type": "go down",
621
+ "value": 3,
622
+ "yaw": -1.0471975511965979
623
+ }
624
+ }
625
+ {
626
+ "action": {
627
+ "imageid": 48,
628
+ "pos": [
629
+ -932.3114574541569,
630
+ -186.80090005949054,
631
+ 33.45824585413169
632
+ ],
633
+ "type": "turn left",
634
+ "value": 30,
635
+ "yaw": -1.0471975511965979
636
+ }
637
+ }
638
+ {
639
+ "action": {
640
+ "imageid": 49,
641
+ "pos": [
642
+ -932.3114574541569,
643
+ -186.80090005949054,
644
+ 33.45824585413169
645
+ ],
646
+ "type": "go straight",
647
+ "value": 3,
648
+ "yaw": -0.523598775598299
649
+ }
650
+ }
651
+ {
652
+ "action": {
653
+ "imageid": 50,
654
+ "pos": [
655
+ -929.7133812428035,
656
+ -188.30090005949054,
657
+ 33.45824585413169
658
+ ],
659
+ "type": "go straight",
660
+ "value": 3,
661
+ "yaw": -0.5235987755982894
662
+ }
663
+ }
664
+ {
665
+ "action": {
666
+ "imageid": 51,
667
+ "pos": [
668
+ -927.1153050314501,
669
+ -189.80090005949054,
670
+ 33.45824585413169
671
+ ],
672
+ "type": "turn right",
673
+ "value": 30,
674
+ "yaw": -0.5235987755982894
675
+ }
676
+ }
677
+ {
678
+ "action": {
679
+ "imageid": 52,
680
+ "pos": [
681
+ -927.1153050314501,
682
+ -189.80090005949054,
683
+ 33.45824585413169
684
+ ],
685
+ "type": "go straight",
686
+ "value": 3,
687
+ "yaw": -1.047197551196588
688
+ }
689
+ }
690
+ {
691
+ "action": {
692
+ "imageid": 53,
693
+ "pos": [
694
+ -925.6153050314501,
695
+ -192.39897627084386,
696
+ 33.45824585413169
697
+ ],
698
+ "type": "stop",
699
+ "value": 0,
700
+ "yaw": -1.047197551196588
701
+ }
702
+ }
703
+ {
704
+ "aim_landmark": {
705
+ "color": "test",
706
+ "feature": "test",
707
+ "position": [
708
+ -916.0,
709
+ -200.0,
710
+ 28.5809
711
+ ],
712
+ "shape": "test",
713
+ "dir": "center",
714
+ "size": "test",
715
+ "type": "building"
716
+ }
717
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_11-20-15_846930886/pose.jsonl ADDED
@@ -0,0 +1,483 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 87.53593383348803,
6
+ 20.799746726139475,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 89.03593383348803,
19
+ 18.20167051478616,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 90.53593383348803,
32
+ 15.603594303432843,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 92.03593383348803,
45
+ 13.005518092079527,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 93.53593383348803,
58
+ 10.40744188072621,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 95.03593383348803,
71
+ 7.809365669372895,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 96.53593383348803,
84
+ 5.2112894580195785,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 98.03593383348803,
97
+ 2.6132132466662625,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 99.53593383348803,
110
+ 0.015137035312946523,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 101.03593383348803,
123
+ -2.5829391760403695,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 102.53593383348803,
136
+ -5.1810153873936855,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 104.03593383348803,
149
+ -7.7790915987470015,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 105.53593383348803,
162
+ -10.377167810100318,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 107.03593383348803,
175
+ -12.975244021453634,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 108.53593383348803,
188
+ -15.57332023280695,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 110.03593383348803,
201
+ -18.171396444160266,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 111.53593383348803,
214
+ -20.76947265551358,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 113.03593383348803,
227
+ -23.367548866866898,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 114.53593383348803,
240
+ -25.965625078220214,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.0471975511965979
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 116.03593383348803,
253
+ -28.56370128957353,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "turn right",
257
+ "value": 30,
258
+ "yaw": -1.0471975511965979
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 116.03593383348803,
266
+ -28.56370128957353,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 116.03593383348803,
279
+ -31.56370128957353,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 116.03593383348803,
292
+ -34.56370128957353,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 116.03593383348803,
305
+ -37.56370128957353,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 116.03593383348803,
318
+ -40.56370128957353,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -1.5707963267948966
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 116.03593383348803,
331
+ -43.56370128957353,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -1.5707963267948966
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 116.03593383348803,
344
+ -46.56370128957353,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -1.5707963267948966
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ 116.03593383348803,
357
+ -49.56370128957353,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": -1.5707963267948966
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ 116.03593383348803,
370
+ -52.56370128957353,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": -1.5707963267948966
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ 116.03593383348803,
383
+ -55.56370128957353,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": -1.5707963267948966
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ 116.03593383348803,
396
+ -58.56370128957353,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": -1.5707963267948966
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ 116.03593383348803,
409
+ -61.56370128957353,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": -1.5707963267948966
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ 116.03593383348803,
422
+ -64.56370128957353,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": -1.5707963267948966
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ 116.03593383348803,
435
+ -67.56370128957353,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": -1.5707963267948966
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ 116.03593383348803,
448
+ -70.56370128957353,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": -1.5707963267948966
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ 116.03593383348803,
461
+ -73.56370128957353,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "stop",
465
+ "value": 0,
466
+ "yaw": -1.5707963267948966
467
+ }
468
+ }
469
+ {
470
+ "aim_landmark": {
471
+ "color": "test",
472
+ "feature": "test",
473
+ "position": [
474
+ 124.0,
475
+ -96.0,
476
+ 31.1527
477
+ ],
478
+ "shape": "test",
479
+ "dir": "center",
480
+ "size": "test",
481
+ "type": "building"
482
+ }
483
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_11-23-28_1025202362/pose.jsonl ADDED
@@ -0,0 +1,652 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1228.2744640019575,
6
+ -548.0578592567746,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1225.2744640019575,
19
+ -548.0578592567746,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1222.2744640019575,
32
+ -548.0578592567746,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1219.2744640019575,
45
+ -548.0578592567746,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -1216.2744640019575,
58
+ -548.0578592567746,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -1213.2744640019575,
71
+ -548.0578592567746,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -1210.2744640019575,
84
+ -548.0578592567746,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -1207.2744640019575,
97
+ -548.0578592567746,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -1204.2744640019575,
110
+ -548.0578592567746,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -1201.2744640019575,
123
+ -548.0578592567746,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.0
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -1198.2744640019575,
136
+ -548.0578592567746,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.0
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -1195.2744640019575,
149
+ -548.0578592567746,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.0
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -1192.2744640019575,
162
+ -548.0578592567746,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.0
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -1189.2744640019575,
175
+ -548.0578592567746,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.0
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -1186.2744640019575,
188
+ -548.0578592567746,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.0
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -1183.2744640019575,
201
+ -548.0578592567746,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.0
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -1180.2744640019575,
214
+ -548.0578592567746,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.0
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -1177.2744640019575,
227
+ -548.0578592567746,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.0
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -1174.2744640019575,
240
+ -548.0578592567746,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 0.0
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -1171.2744640019575,
253
+ -548.0578592567746,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "turn left",
257
+ "value": 30,
258
+ "yaw": 0.0
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -1171.2744640019575,
266
+ -548.0578592567746,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "turn left",
270
+ "value": 30,
271
+ "yaw": 0.5235987755982988
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -1171.2744640019575,
279
+ -548.0578592567746,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 1.0471975511965976
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -1169.7744640019575,
292
+ -545.4597830454213,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 1.0471975511965883
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -1168.2744640019575,
305
+ -542.861706834068,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "turn right",
309
+ "value": 30,
310
+ "yaw": 1.0471975511966072
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -1168.2744640019575,
318
+ -542.861706834068,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 0.5235987755983084
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -1165.6763877906042,
331
+ -541.361706834068,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 0.5235987755982894
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -1163.0783115792508,
344
+ -539.861706834068,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 0.5235987755982894
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -1160.4802353678974,
357
+ -538.361706834068,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": 0.5235987755982894
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -1157.882159156544,
370
+ -536.861706834068,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": 0.5235987755982894
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -1155.2840829451907,
383
+ -535.361706834068,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": 0.5235987755982894
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -1152.6860067338373,
396
+ -533.861706834068,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": 0.5235987755982894
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -1150.087930522484,
409
+ -532.361706834068,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": 0.5235987755982894
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -1147.4898543111306,
422
+ -530.861706834068,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": 0.5235987755982894
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -1144.8917780997772,
435
+ -529.361706834068,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": 0.5235987755982894
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -1142.2937018884238,
448
+ -527.861706834068,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": 0.5235987755982894
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -1139.6956256770704,
461
+ -526.361706834068,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": 0.5235987755982894
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -1137.097549465717,
474
+ -524.861706834068,
475
+ 30.45824585413169
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": 0.5235987755982894
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -1134.4994732543637,
487
+ -523.361706834068,
488
+ 30.45824585413169
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": 0.5235987755982894
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ -1131.9013970430103,
500
+ -521.861706834068,
501
+ 30.45824585413169
502
+ ],
503
+ "type": "go straight",
504
+ "value": 3,
505
+ "yaw": 0.5235987755982894
506
+ }
507
+ }
508
+ {
509
+ "action": {
510
+ "imageid": 39,
511
+ "pos": [
512
+ -1129.303320831657,
513
+ -520.361706834068,
514
+ 30.45824585413169
515
+ ],
516
+ "type": "go straight",
517
+ "value": 3,
518
+ "yaw": 0.5235987755982894
519
+ }
520
+ }
521
+ {
522
+ "action": {
523
+ "imageid": 40,
524
+ "pos": [
525
+ -1126.7052446203036,
526
+ -518.861706834068,
527
+ 30.45824585413169
528
+ ],
529
+ "type": "go straight",
530
+ "value": 3,
531
+ "yaw": 0.5235987755982894
532
+ }
533
+ }
534
+ {
535
+ "action": {
536
+ "imageid": 41,
537
+ "pos": [
538
+ -1124.1071684089502,
539
+ -517.361706834068,
540
+ 30.45824585413169
541
+ ],
542
+ "type": "go straight",
543
+ "value": 3,
544
+ "yaw": 0.5235987755982894
545
+ }
546
+ }
547
+ {
548
+ "action": {
549
+ "imageid": 42,
550
+ "pos": [
551
+ -1121.5090921975968,
552
+ -515.861706834068,
553
+ 30.45824585413169
554
+ ],
555
+ "type": "go straight",
556
+ "value": 3,
557
+ "yaw": 0.5235987755982894
558
+ }
559
+ }
560
+ {
561
+ "action": {
562
+ "imageid": 43,
563
+ "pos": [
564
+ -1118.9110159862435,
565
+ -514.361706834068,
566
+ 30.45824585413169
567
+ ],
568
+ "type": "go straight",
569
+ "value": 3,
570
+ "yaw": 0.5235987755982894
571
+ }
572
+ }
573
+ {
574
+ "action": {
575
+ "imageid": 44,
576
+ "pos": [
577
+ -1116.31293977489,
578
+ -512.861706834068,
579
+ 30.45824585413169
580
+ ],
581
+ "type": "go straight",
582
+ "value": 3,
583
+ "yaw": 0.5235987755982894
584
+ }
585
+ }
586
+ {
587
+ "action": {
588
+ "imageid": 45,
589
+ "pos": [
590
+ -1113.7148635635367,
591
+ -511.36170683406795,
592
+ 30.45824585413169
593
+ ],
594
+ "type": "go straight",
595
+ "value": 3,
596
+ "yaw": 0.5235987755982894
597
+ }
598
+ }
599
+ {
600
+ "action": {
601
+ "imageid": 46,
602
+ "pos": [
603
+ -1111.1167873521833,
604
+ -509.86170683406795,
605
+ 30.45824585413169
606
+ ],
607
+ "type": "go straight",
608
+ "value": 3,
609
+ "yaw": 0.5235987755982894
610
+ }
611
+ }
612
+ {
613
+ "action": {
614
+ "imageid": 47,
615
+ "pos": [
616
+ -1108.51871114083,
617
+ -508.36170683406795,
618
+ 30.45824585413169
619
+ ],
620
+ "type": "go straight",
621
+ "value": 3,
622
+ "yaw": 0.5235987755982894
623
+ }
624
+ }
625
+ {
626
+ "action": {
627
+ "imageid": 48,
628
+ "pos": [
629
+ -1105.9206349294766,
630
+ -506.86170683406795,
631
+ 30.45824585413169
632
+ ],
633
+ "type": "stop",
634
+ "value": 0,
635
+ "yaw": 0.5235987755982894
636
+ }
637
+ }
638
+ {
639
+ "aim_landmark": {
640
+ "color": "test",
641
+ "feature": "test",
642
+ "position": [
643
+ -1092.0,
644
+ -500.0,
645
+ 21.2115
646
+ ],
647
+ "shape": "test",
648
+ "dir": "center",
649
+ "size": "test",
650
+ "type": "building"
651
+ }
652
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_11-25-1_2044897763/pose.jsonl ADDED
@@ -0,0 +1,496 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -733.1190954307164,
6
+ -265.5801560257865,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 3.141592653589793
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -736.1190954307164,
19
+ -265.5801560257865,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 3.141592653589793
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -739.1190954307164,
32
+ -265.5801560257865,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 3.141592653589793
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -742.1190954307164,
45
+ -265.5801560257865,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 3.141592653589793
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -745.1190954307164,
58
+ -265.5801560257865,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 3.141592653589793
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -748.1190954307164,
71
+ -265.5801560257865,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 3.141592653589793
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -751.1190954307164,
84
+ -265.5801560257865,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 3.141592653589793
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -754.1190954307164,
97
+ -265.5801560257865,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 3.141592653589793
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -757.1190954307164,
110
+ -265.5801560257865,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 3.141592653589793
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -760.1190954307164,
123
+ -265.5801560257865,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 3.141592653589793
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -763.1190954307164,
136
+ -265.5801560257865,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 3.141592653589793
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -766.1190954307164,
149
+ -265.5801560257865,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 3.141592653589793
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -769.1190954307164,
162
+ -265.5801560257865,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 3.141592653589793
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -772.1190954307164,
175
+ -265.5801560257865,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 3.141592653589793
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -775.1190954307164,
188
+ -265.5801560257865,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 3.141592653589793
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -778.1190954307164,
201
+ -265.5801560257865,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 3.141592653589793
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -781.1190954307164,
214
+ -265.5801560257865,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 3.141592653589793
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -784.1190954307164,
227
+ -265.5801560257865,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 3.141592653589793
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -787.1190954307164,
240
+ -265.5801560257865,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 3.141592653589793
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -790.1190954307164,
253
+ -265.5801560257865,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 3.141592653589793
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -793.1190954307164,
266
+ -265.5801560257865,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 3.141592653589793
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -796.1190954307164,
279
+ -265.5801560257865,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 3.141592653589793
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -799.1190954307164,
292
+ -265.5801560257865,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 3.141592653589793
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -802.1190954307164,
305
+ -265.5801560257865,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 3.141592653589793
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -805.1190954307164,
318
+ -265.5801560257865,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 3.141592653589793
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -808.1190954307164,
331
+ -265.5801560257865,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 3.141592653589793
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -811.1190954307164,
344
+ -265.5801560257865,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 3.141592653589793
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -814.1190954307164,
357
+ -265.5801560257865,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": 3.141592653589793
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -817.1190954307164,
370
+ -265.5801560257865,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": 3.141592653589793
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -820.1190954307164,
383
+ -265.5801560257865,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": 3.141592653589793
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -823.1190954307164,
396
+ -265.5801560257865,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": 3.141592653589793
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -826.1190954307164,
409
+ -265.5801560257865,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": 3.141592653589793
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -829.1190954307164,
422
+ -265.5801560257865,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": 3.141592653589793
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -832.1190954307164,
435
+ -265.5801560257865,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "turn left",
439
+ "value": 30,
440
+ "yaw": 3.141592653589793
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -832.1190954307164,
448
+ -265.5801560257865,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": 3.665191429188092
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -834.7171716420696,
461
+ -267.0801560257865,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": -2.617993877991485
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -837.315247853423,
474
+ -268.5801560257865,
475
+ 30.45824585413169
476
+ ],
477
+ "type": "stop",
478
+ "value": 0,
479
+ "yaw": -2.617993877991485
480
+ }
481
+ }
482
+ {
483
+ "aim_landmark": {
484
+ "color": "test",
485
+ "feature": "test",
486
+ "position": [
487
+ -868.0,
488
+ -272.0,
489
+ 35.879
490
+ ],
491
+ "shape": "test",
492
+ "dir": "center",
493
+ "size": "test",
494
+ "type": "building"
495
+ }
496
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_11-33-24_1059961393/pose.jsonl ADDED
@@ -0,0 +1,288 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1109.930382816157,
6
+ -449.53055340412175,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1109.930382816157,
19
+ -446.53055340412175,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1109.930382816157,
32
+ -443.53055340412175,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1109.930382816157,
45
+ -440.53055340412175,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -1109.930382816157,
58
+ -437.53055340412175,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -1109.930382816157,
71
+ -434.53055340412175,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -1109.930382816157,
84
+ -431.53055340412175,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -1109.930382816157,
97
+ -428.53055340412175,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -1109.930382816157,
110
+ -425.53055340412175,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -1109.930382816157,
123
+ -422.53055340412175,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -1109.930382816157,
136
+ -419.53055340412175,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -1109.930382816157,
149
+ -416.53055340412175,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -1109.930382816157,
162
+ -413.53055340412175,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "turn left",
166
+ "value": 30,
167
+ "yaw": 1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -1109.930382816157,
175
+ -413.53055340412175,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -1111.430382816157,
188
+ -410.93247719276843,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -1112.930382816157,
201
+ -408.3344009814151,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -1114.430382816157,
214
+ -405.7363247700618,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -1115.930382816157,
227
+ -403.1382485587085,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -1117.430382816157,
240
+ -400.54017234735517,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -1118.930382816157,
253
+ -397.94209613600185,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -1120.430382816157,
266
+ -395.34401992464853,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "stop",
270
+ "value": 0,
271
+ "yaw": 2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "aim_landmark": {
276
+ "color": "test",
277
+ "feature": "test",
278
+ "position": [
279
+ -1132.0,
280
+ -340.0,
281
+ 15.6311
282
+ ],
283
+ "shape": "test",
284
+ "dir": "center",
285
+ "size": "test",
286
+ "type": "building"
287
+ }
288
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_11-35-15_1653377373/pose.jsonl ADDED
@@ -0,0 +1,119 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 348.4496713142622,
6
+ -581.0527264113379,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.094395102393205
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 346.9496713142622,
19
+ -583.6508026226911,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.094395102393205
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 345.4496713142622,
32
+ -586.2488788340445,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.094395102393186
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 343.9496713142622,
45
+ -588.8469550453979,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.094395102393186
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 342.4496713142622,
58
+ -591.4450312567512,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.094395102393186
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 340.9496713142622,
71
+ -594.0431074681046,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.094395102393186
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 339.4496713142622,
84
+ -596.641183679458,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.094395102393186
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 337.9496713142622,
97
+ -599.2392598908114,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "stop",
101
+ "value": 0,
102
+ "yaw": -2.094395102393186
103
+ }
104
+ }
105
+ {
106
+ "aim_landmark": {
107
+ "color": "test",
108
+ "feature": "test",
109
+ "position": [
110
+ 292.0,
111
+ -704.0,
112
+ 62.9925
113
+ ],
114
+ "shape": "test",
115
+ "dir": "center",
116
+ "size": "test",
117
+ "type": "building"
118
+ }
119
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_11-51-29_1780695788/pose.jsonl ADDED
@@ -0,0 +1,769 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -813.6859247890673,
6
+ -485.3360013314996,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -813.6859247890673,
19
+ -482.3360013314996,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -813.6859247890673,
32
+ -479.3360013314996,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -813.6859247890673,
45
+ -476.3360013314996,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -813.6859247890673,
58
+ -473.3360013314996,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -813.6859247890673,
71
+ -470.3360013314996,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -813.6859247890673,
84
+ -467.3360013314996,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -813.6859247890673,
97
+ -464.3360013314996,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -813.6859247890673,
110
+ -461.3360013314996,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -813.6859247890673,
123
+ -458.3360013314996,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -813.6859247890673,
136
+ -455.3360013314996,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -813.6859247890673,
149
+ -452.3360013314996,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -813.6859247890673,
162
+ -449.3360013314996,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -813.6859247890673,
175
+ -446.3360013314996,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -813.6859247890673,
188
+ -443.3360013314996,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -813.6859247890673,
201
+ -440.3360013314996,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "turn left",
205
+ "value": 30,
206
+ "yaw": 1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -813.6859247890673,
214
+ -440.3360013314996,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -815.1859247890673,
227
+ -437.73792512014626,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "turn left",
231
+ "value": 30,
232
+ "yaw": 2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -815.1859247890673,
240
+ -437.73792512014626,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.617993877991494
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -817.7840010004206,
253
+ -436.23792512014626,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 2.6179938779915037
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -820.382077211774,
266
+ -434.73792512014626,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 2.6179938779915037
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -822.9801534231274,
279
+ -433.23792512014626,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 2.6179938779915037
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -825.5782296344807,
292
+ -431.73792512014626,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 2.6179938779915037
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -828.1763058458341,
305
+ -430.23792512014626,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 2.6179938779915037
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -830.7743820571875,
318
+ -428.73792512014626,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 2.6179938779915037
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -833.3724582685409,
331
+ -427.23792512014626,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 2.6179938779915037
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -835.9705344798942,
344
+ -425.73792512014626,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "turn right",
348
+ "value": 30,
349
+ "yaw": 2.6179938779915037
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -835.9705344798942,
357
+ -425.73792512014626,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "turn right",
361
+ "value": 30,
362
+ "yaw": 2.094395102393205
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -835.9705344798942,
370
+ -425.73792512014626,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": 1.570796326794906
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -835.9705344798942,
383
+ -422.73792512014626,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": 1.5707963267948966
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -835.9705344798942,
396
+ -419.73792512014626,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": 1.5707963267948966
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -835.9705344798942,
409
+ -416.73792512014626,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": 1.5707963267948966
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -835.9705344798942,
422
+ -413.73792512014626,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": 1.5707963267948966
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -835.9705344798942,
435
+ -410.73792512014626,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": 1.5707963267948966
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -835.9705344798942,
448
+ -407.73792512014626,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "turn left",
452
+ "value": 30,
453
+ "yaw": 1.5707963267948966
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -835.9705344798942,
461
+ -407.73792512014626,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": 2.0943951023931953
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -837.4705344798942,
474
+ -405.13984890879294,
475
+ 30.45824585413169
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": 2.0943951023931953
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -838.9705344798942,
487
+ -402.5417726974396,
488
+ 30.45824585413169
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": 2.0943951023931953
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ -840.4705344798942,
500
+ -399.9436964860863,
501
+ 30.45824585413169
502
+ ],
503
+ "type": "go straight",
504
+ "value": 3,
505
+ "yaw": 2.0943951023931953
506
+ }
507
+ }
508
+ {
509
+ "action": {
510
+ "imageid": 39,
511
+ "pos": [
512
+ -841.9705344798942,
513
+ -397.345620274733,
514
+ 30.45824585413169
515
+ ],
516
+ "type": "turn left",
517
+ "value": 30,
518
+ "yaw": 2.0943951023931953
519
+ }
520
+ }
521
+ {
522
+ "action": {
523
+ "imageid": 40,
524
+ "pos": [
525
+ -841.9705344798942,
526
+ -397.345620274733,
527
+ 30.45824585413169
528
+ ],
529
+ "type": "go straight",
530
+ "value": 3,
531
+ "yaw": 2.617993877991494
532
+ }
533
+ }
534
+ {
535
+ "action": {
536
+ "imageid": 41,
537
+ "pos": [
538
+ -844.5686106912476,
539
+ -395.845620274733,
540
+ 30.45824585413169
541
+ ],
542
+ "type": "go straight",
543
+ "value": 3,
544
+ "yaw": 2.6179938779915037
545
+ }
546
+ }
547
+ {
548
+ "action": {
549
+ "imageid": 42,
550
+ "pos": [
551
+ -847.166686902601,
552
+ -394.345620274733,
553
+ 30.45824585413169
554
+ ],
555
+ "type": "go straight",
556
+ "value": 3,
557
+ "yaw": 2.6179938779915037
558
+ }
559
+ }
560
+ {
561
+ "action": {
562
+ "imageid": 43,
563
+ "pos": [
564
+ -849.7647631139544,
565
+ -392.845620274733,
566
+ 30.45824585413169
567
+ ],
568
+ "type": "go straight",
569
+ "value": 3,
570
+ "yaw": 2.6179938779915037
571
+ }
572
+ }
573
+ {
574
+ "action": {
575
+ "imageid": 44,
576
+ "pos": [
577
+ -852.3628393253077,
578
+ -391.345620274733,
579
+ 30.45824585413169
580
+ ],
581
+ "type": "go straight",
582
+ "value": 3,
583
+ "yaw": 2.6179938779915037
584
+ }
585
+ }
586
+ {
587
+ "action": {
588
+ "imageid": 45,
589
+ "pos": [
590
+ -854.9609155366611,
591
+ -389.845620274733,
592
+ 30.45824585413169
593
+ ],
594
+ "type": "go straight",
595
+ "value": 3,
596
+ "yaw": 2.6179938779915037
597
+ }
598
+ }
599
+ {
600
+ "action": {
601
+ "imageid": 46,
602
+ "pos": [
603
+ -857.5589917480145,
604
+ -388.345620274733,
605
+ 30.45824585413169
606
+ ],
607
+ "type": "go straight",
608
+ "value": 3,
609
+ "yaw": 2.6179938779915037
610
+ }
611
+ }
612
+ {
613
+ "action": {
614
+ "imageid": 47,
615
+ "pos": [
616
+ -860.1570679593679,
617
+ -386.845620274733,
618
+ 30.45824585413169
619
+ ],
620
+ "type": "go straight",
621
+ "value": 3,
622
+ "yaw": 2.6179938779915037
623
+ }
624
+ }
625
+ {
626
+ "action": {
627
+ "imageid": 48,
628
+ "pos": [
629
+ -862.7551441707212,
630
+ -385.345620274733,
631
+ 30.45824585413169
632
+ ],
633
+ "type": "go straight",
634
+ "value": 3,
635
+ "yaw": 2.6179938779915037
636
+ }
637
+ }
638
+ {
639
+ "action": {
640
+ "imageid": 49,
641
+ "pos": [
642
+ -865.3532203820746,
643
+ -383.845620274733,
644
+ 30.45824585413169
645
+ ],
646
+ "type": "go straight",
647
+ "value": 3,
648
+ "yaw": 2.6179938779915037
649
+ }
650
+ }
651
+ {
652
+ "action": {
653
+ "imageid": 50,
654
+ "pos": [
655
+ -867.951296593428,
656
+ -382.345620274733,
657
+ 30.45824585413169
658
+ ],
659
+ "type": "go straight",
660
+ "value": 3,
661
+ "yaw": 2.6179938779915037
662
+ }
663
+ }
664
+ {
665
+ "action": {
666
+ "imageid": 51,
667
+ "pos": [
668
+ -870.5493728047813,
669
+ -380.845620274733,
670
+ 30.45824585413169
671
+ ],
672
+ "type": "go straight",
673
+ "value": 3,
674
+ "yaw": 2.6179938779915037
675
+ }
676
+ }
677
+ {
678
+ "action": {
679
+ "imageid": 52,
680
+ "pos": [
681
+ -873.1474490161347,
682
+ -379.345620274733,
683
+ 30.45824585413169
684
+ ],
685
+ "type": "go straight",
686
+ "value": 3,
687
+ "yaw": 2.6179938779915037
688
+ }
689
+ }
690
+ {
691
+ "action": {
692
+ "imageid": 53,
693
+ "pos": [
694
+ -875.7455252274881,
695
+ -377.845620274733,
696
+ 30.45824585413169
697
+ ],
698
+ "type": "turn right",
699
+ "value": 30,
700
+ "yaw": 2.6179938779915037
701
+ }
702
+ }
703
+ {
704
+ "action": {
705
+ "imageid": 54,
706
+ "pos": [
707
+ -875.7455252274881,
708
+ -377.845620274733,
709
+ 30.45824585413169
710
+ ],
711
+ "type": "go straight",
712
+ "value": 3,
713
+ "yaw": 2.094395102393205
714
+ }
715
+ }
716
+ {
717
+ "action": {
718
+ "imageid": 55,
719
+ "pos": [
720
+ -877.2455252274881,
721
+ -375.2475440633797,
722
+ 30.45824585413169
723
+ ],
724
+ "type": "go straight",
725
+ "value": 3,
726
+ "yaw": 2.0943951023931953
727
+ }
728
+ }
729
+ {
730
+ "action": {
731
+ "imageid": 56,
732
+ "pos": [
733
+ -878.7455252274881,
734
+ -372.64946785202636,
735
+ 30.45824585413169
736
+ ],
737
+ "type": "go straight",
738
+ "value": 3,
739
+ "yaw": 2.0943951023931953
740
+ }
741
+ }
742
+ {
743
+ "action": {
744
+ "imageid": 57,
745
+ "pos": [
746
+ -880.2455252274881,
747
+ -370.05139164067305,
748
+ 30.45824585413169
749
+ ],
750
+ "type": "stop",
751
+ "value": 0,
752
+ "yaw": 2.0943951023931953
753
+ }
754
+ }
755
+ {
756
+ "aim_landmark": {
757
+ "color": "test",
758
+ "feature": "test",
759
+ "position": [
760
+ -888.0,
761
+ -356.0,
762
+ 33.7789
763
+ ],
764
+ "shape": "test",
765
+ "dir": "center",
766
+ "size": "test",
767
+ "type": "building"
768
+ }
769
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_12-10-19_524872353/pose.jsonl ADDED
@@ -0,0 +1,535 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -931.1869946398713,
6
+ -289.02919598441497,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.6179938779915037
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -933.7850708512246,
19
+ -290.52919598441497,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.6179938779915037
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -936.383147062578,
32
+ -292.02919598441497,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.6179938779915037
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -938.9812232739314,
45
+ -293.52919598441497,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.6179938779915037
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -941.5792994852848,
58
+ -295.02919598441497,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.6179938779915037
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -944.1773756966381,
71
+ -296.52919598441497,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.6179938779915037
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -946.7754519079915,
84
+ -298.02919598441497,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.6179938779915037
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -949.3735281193449,
97
+ -299.52919598441497,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.6179938779915037
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -951.9716043306983,
110
+ -301.02919598441497,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.6179938779915037
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -954.5696805420516,
123
+ -302.52919598441497,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.6179938779915037
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -957.167756753405,
136
+ -304.02919598441497,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.6179938779915037
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -959.7658329647584,
149
+ -305.52919598441497,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.6179938779915037
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -962.3639091761117,
162
+ -307.02919598441497,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.6179938779915037
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -964.9619853874651,
175
+ -308.52919598441497,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.6179938779915037
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -967.5600615988185,
188
+ -310.02919598441497,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.6179938779915037
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -970.1581378101719,
201
+ -311.52919598441497,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.6179938779915037
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -972.7562140215252,
214
+ -313.02919598441497,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.6179938779915037
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -975.3542902328786,
227
+ -314.52919598441497,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.6179938779915037
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -977.952366444232,
240
+ -316.02919598441497,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.6179938779915037
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -980.5504426555854,
253
+ -317.52919598441497,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.6179938779915037
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -983.1485188669387,
266
+ -319.02919598441497,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.6179938779915037
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -985.7465950782921,
279
+ -320.52919598441497,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "turn right",
283
+ "value": 30,
284
+ "yaw": -2.6179938779915037
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -985.7465950782921,
292
+ -320.52919598441497,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -3.1415926535898024
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -988.7465950782921,
305
+ -320.52919598441497,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 3.141592653589793
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -991.7465950782921,
318
+ -320.52919598441497,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 3.141592653589793
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -994.7465950782921,
331
+ -320.52919598441497,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 3.141592653589793
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -997.7465950782921,
344
+ -320.52919598441497,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 3.141592653589793
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -1000.7465950782921,
357
+ -320.52919598441497,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": 3.141592653589793
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -1003.7465950782921,
370
+ -320.52919598441497,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": 3.141592653589793
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -1006.7465950782921,
383
+ -320.52919598441497,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": 3.141592653589793
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -1009.7465950782921,
396
+ -320.52919598441497,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": 3.141592653589793
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -1012.7465950782921,
409
+ -320.52919598441497,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": 3.141592653589793
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -1015.7465950782921,
422
+ -320.52919598441497,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "turn left",
426
+ "value": 30,
427
+ "yaw": 3.141592653589793
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -1015.7465950782921,
435
+ -320.52919598441497,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "turn left",
439
+ "value": 30,
440
+ "yaw": 3.665191429188092
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -1015.7465950782921,
448
+ -320.52919598441497,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": 4.1887902047863905
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -1017.2465950782921,
461
+ -323.1272721957683,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": -2.0943951023931953
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -1018.7465950782921,
474
+ -325.7253484071216,
475
+ 30.45824585413169
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": -2.0943951023931953
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -1020.2465950782921,
487
+ -328.3234246184749,
488
+ 30.45824585413169
489
+ ],
490
+ "type": "turn right",
491
+ "value": 30,
492
+ "yaw": -2.0943951023931953
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ -1020.2465950782921,
500
+ -328.3234246184749,
501
+ 30.45824585413169
502
+ ],
503
+ "type": "go straight",
504
+ "value": 3,
505
+ "yaw": -2.617993877991494
506
+ }
507
+ }
508
+ {
509
+ "action": {
510
+ "imageid": 39,
511
+ "pos": [
512
+ -1022.8446712896455,
513
+ -329.8234246184749,
514
+ 30.45824585413169
515
+ ],
516
+ "type": "stop",
517
+ "value": 0,
518
+ "yaw": -2.617993877991494
519
+ }
520
+ }
521
+ {
522
+ "aim_landmark": {
523
+ "color": "test",
524
+ "feature": "test",
525
+ "position": [
526
+ -1048.0,
527
+ -340.0,
528
+ 75.7737
529
+ ],
530
+ "shape": "test",
531
+ "dir": "center",
532
+ "size": "test",
533
+ "type": "building"
534
+ }
535
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_12-20-52_1622597488/pose.jsonl ADDED
@@ -0,0 +1,106 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 318.45125189728464,
6
+ -583.6104310962908,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.094395102393186
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 316.95125189728464,
19
+ -586.2085073076441,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.094395102393186
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 315.45125189728464,
32
+ -588.8065835189975,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.094395102393186
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 313.95125189728464,
45
+ -591.4046597303509,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.094395102393186
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 312.45125189728464,
58
+ -594.0027359417043,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.094395102393186
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 310.95125189728464,
71
+ -596.6008121530576,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.094395102393186
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 309.45125189728464,
84
+ -599.198888364411,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "stop",
88
+ "value": 0,
89
+ "yaw": -2.094395102393186
90
+ }
91
+ }
92
+ {
93
+ "aim_landmark": {
94
+ "color": "test",
95
+ "feature": "test",
96
+ "position": [
97
+ 264.0,
98
+ -700.0,
99
+ 19.1277
100
+ ],
101
+ "shape": "test",
102
+ "dir": "center",
103
+ "size": "test",
104
+ "type": "building"
105
+ }
106
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_12-21-0_111537764/pose.jsonl ADDED
@@ -0,0 +1,509 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -953.5207673109913,
6
+ -408.41154327108706,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -950.5207673109913,
19
+ -408.41154327108706,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -947.5207673109913,
32
+ -408.41154327108706,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -944.5207673109913,
45
+ -408.41154327108706,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -941.5207673109913,
58
+ -408.41154327108706,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -938.5207673109913,
71
+ -408.41154327108706,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -935.5207673109913,
84
+ -408.41154327108706,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -932.5207673109913,
97
+ -408.41154327108706,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -929.5207673109913,
110
+ -408.41154327108706,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -926.5207673109913,
123
+ -408.41154327108706,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.0
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -923.5207673109913,
136
+ -408.41154327108706,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.0
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -920.5207673109913,
149
+ -408.41154327108706,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.0
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -917.5207673109913,
162
+ -408.41154327108706,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.0
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -914.5207673109913,
175
+ -408.41154327108706,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.0
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -911.5207673109913,
188
+ -408.41154327108706,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.0
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -908.5207673109913,
201
+ -408.41154327108706,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.0
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -905.5207673109913,
214
+ -408.41154327108706,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "turn left",
218
+ "value": 30,
219
+ "yaw": 0.0
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -905.5207673109913,
227
+ -408.41154327108706,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -902.9226910996381,
240
+ -406.91154327108706,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 0.5235987755983084
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -900.3246148882847,
253
+ -405.41154327108706,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 0.5235987755982894
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -897.7265386769313,
266
+ -403.91154327108706,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 0.5235987755982894
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -895.128462465578,
279
+ -402.41154327108706,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 0.5235987755982894
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -892.5303862542246,
292
+ -400.91154327108706,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 0.5235987755982894
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -889.9323100428712,
305
+ -399.41154327108706,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 0.5235987755982894
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -887.3342338315178,
318
+ -397.91154327108706,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 0.5235987755982894
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -884.7361576201645,
331
+ -396.41154327108706,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 0.5235987755982894
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -882.1380814088111,
344
+ -394.91154327108706,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 0.5235987755982894
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -879.5400051974577,
357
+ -393.41154327108706,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": 0.5235987755982894
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -876.9419289861044,
370
+ -391.91154327108706,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": 0.5235987755982894
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -874.343852774751,
383
+ -390.41154327108706,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": 0.5235987755982894
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -871.7457765633976,
396
+ -388.91154327108706,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": 0.5235987755982894
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -869.1477003520442,
409
+ -387.41154327108706,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": 0.5235987755982894
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -866.5496241406909,
422
+ -385.91154327108706,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": 0.5235987755982894
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -863.9515479293375,
435
+ -384.41154327108706,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": 0.5235987755982894
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -861.3534717179841,
448
+ -382.91154327108706,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": 0.5235987755982894
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -858.7553955066307,
461
+ -381.41154327108706,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": 0.5235987755982894
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -856.1573192952774,
474
+ -379.91154327108706,
475
+ 30.45824585413169
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": 0.5235987755982894
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -853.559243083924,
487
+ -378.41154327108706,
488
+ 30.45824585413169
489
+ ],
490
+ "type": "stop",
491
+ "value": 0,
492
+ "yaw": 0.5235987755982894
493
+ }
494
+ }
495
+ {
496
+ "aim_landmark": {
497
+ "color": "test",
498
+ "feature": "test",
499
+ "position": [
500
+ -844.0,
501
+ -376.0,
502
+ 33.779
503
+ ],
504
+ "shape": "test",
505
+ "dir": "center",
506
+ "size": "test",
507
+ "type": "building"
508
+ }
509
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_12-21-23_338888228/pose.jsonl ADDED
@@ -0,0 +1,340 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -192.55546888366786,
6
+ -312.97892471604916,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -191.05546888366786,
19
+ -310.38084850469585,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -189.55546888366786,
32
+ -307.78277229334253,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -188.05546888366786,
45
+ -305.1846960819892,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -186.55546888366786,
58
+ -302.5866198706359,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -185.05546888366786,
71
+ -299.9885436592826,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -183.55546888366786,
84
+ -297.39046744792927,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -182.05546888366786,
97
+ -294.79239123657595,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -180.55546888366786,
110
+ -292.19431502522264,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -179.05546888366786,
123
+ -289.5962388138693,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -177.55546888366786,
136
+ -286.998162602516,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -176.05546888366786,
149
+ -284.4000863911627,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "turn right",
153
+ "value": 30,
154
+ "yaw": 1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -176.05546888366786,
162
+ -284.4000863911627,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.523598775598299
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -173.45739267231454,
175
+ -282.9000863911627,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.5235987755982988
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -170.85931646096122,
188
+ -281.4000863911627,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.5235987755982988
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -168.2612402496079,
201
+ -279.9000863911627,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.5235987755982988
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -165.6631640382546,
214
+ -278.4000863911627,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.5235987755982988
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -163.06508782690128,
227
+ -276.9000863911627,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -160.46701161554796,
240
+ -275.4000863911627,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 0.5235987755982988
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -157.86893540419464,
253
+ -273.9000863911627,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 0.5235987755982988
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -155.27085919284133,
266
+ -272.4000863911627,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 0.5235987755982988
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -152.672782981488,
279
+ -270.9000863911627,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "turn left",
283
+ "value": 30,
284
+ "yaw": 0.5235987755982988
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -152.672782981488,
292
+ -270.9000863911627,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 1.0471975511965976
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -151.172782981488,
305
+ -268.3020101798094,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 1.0471975511965979
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -149.672782981488,
318
+ -265.70393396845606,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "stop",
322
+ "value": 0,
323
+ "yaw": 1.0471975511965979
324
+ }
325
+ }
326
+ {
327
+ "aim_landmark": {
328
+ "color": "test",
329
+ "feature": "test",
330
+ "position": [
331
+ -104.0,
332
+ -216.0,
333
+ 43.732
334
+ ],
335
+ "shape": "test",
336
+ "dir": "center",
337
+ "size": "test",
338
+ "type": "building"
339
+ }
340
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_12-22-8_438792350/pose.jsonl ADDED
@@ -0,0 +1,691 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1212.2004426512217,
6
+ -373.70536736743367,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1209.2004426512217,
19
+ -373.70536736743367,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1206.2004426512217,
32
+ -373.70536736743367,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "turn right",
36
+ "value": 30,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1206.2004426512217,
45
+ -373.70536736743367,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -0.5235987755982988
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -1203.6023664398683,
58
+ -375.20536736743367,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "turn right",
62
+ "value": 30,
63
+ "yaw": -0.5235987755982894
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -1203.6023664398683,
71
+ -375.20536736743367,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.047197551196588
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -1202.1023664398683,
84
+ -377.803443578787,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -1200.6023664398683,
97
+ -380.4015197901403,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -1199.1023664398683,
110
+ -382.9995960014936,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -1197.6023664398683,
123
+ -385.59767221284693,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "turn left",
127
+ "value": 30,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -1197.6023664398683,
136
+ -385.59767221284693,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "turn left",
140
+ "value": 30,
141
+ "yaw": -0.523598775598299
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -1197.6023664398683,
149
+ -385.59767221284693,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.220446049250313e-16
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -1194.6023664398683,
162
+ -385.59767221284693,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.0
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -1191.6023664398683,
175
+ -385.59767221284693,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.0
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -1188.6023664398683,
188
+ -385.59767221284693,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.0
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -1185.6023664398683,
201
+ -385.59767221284693,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.0
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -1182.6023664398683,
214
+ -385.59767221284693,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.0
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -1179.6023664398683,
227
+ -385.59767221284693,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.0
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -1176.6023664398683,
240
+ -385.59767221284693,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 0.0
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -1173.6023664398683,
253
+ -385.59767221284693,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 0.0
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -1170.6023664398683,
266
+ -385.59767221284693,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 0.0
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -1167.6023664398683,
279
+ -385.59767221284693,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 0.0
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -1164.6023664398683,
292
+ -385.59767221284693,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 0.0
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -1161.6023664398683,
305
+ -385.59767221284693,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "turn right",
309
+ "value": 30,
310
+ "yaw": 0.0
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -1161.6023664398683,
318
+ -385.59767221284693,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "turn right",
322
+ "value": 30,
323
+ "yaw": -0.5235987755982988
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -1161.6023664398683,
331
+ -385.59767221284693,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -1.0471975511965976
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -1160.1023664398683,
344
+ -388.19574842420025,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -1.0471975511965979
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -1158.6023664398683,
357
+ -390.79382463555356,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": -1.0471975511965979
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -1157.1023664398683,
370
+ -393.3919008469069,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": -1.0471975511965979
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -1155.6023664398683,
383
+ -395.9899770582602,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": -1.0471975511965979
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -1154.1023664398683,
396
+ -398.5880532696135,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": -1.0471975511965979
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -1152.6023664398683,
409
+ -401.1861294809668,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "turn left",
413
+ "value": 30,
414
+ "yaw": -1.0471975511965979
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -1152.6023664398683,
422
+ -401.1861294809668,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": -0.523598775598299
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -1150.004290228515,
435
+ -402.6861294809668,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": -0.5235987755982894
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -1147.4062140171616,
448
+ -404.1861294809668,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": -0.5235987755982894
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -1144.8081378058082,
461
+ -405.6861294809668,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": -0.5235987755982894
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -1142.2100615944548,
474
+ -407.1861294809668,
475
+ 30.45824585413169
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": -0.5235987755982894
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -1139.6119853831015,
487
+ -408.6861294809668,
488
+ 30.45824585413169
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": -0.5235987755982894
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ -1137.013909171748,
500
+ -410.1861294809668,
501
+ 30.45824585413169
502
+ ],
503
+ "type": "go straight",
504
+ "value": 3,
505
+ "yaw": -0.5235987755982894
506
+ }
507
+ }
508
+ {
509
+ "action": {
510
+ "imageid": 39,
511
+ "pos": [
512
+ -1134.4158329603947,
513
+ -411.6861294809668,
514
+ 30.45824585413169
515
+ ],
516
+ "type": "go straight",
517
+ "value": 3,
518
+ "yaw": -0.5235987755982894
519
+ }
520
+ }
521
+ {
522
+ "action": {
523
+ "imageid": 40,
524
+ "pos": [
525
+ -1131.8177567490413,
526
+ -413.1861294809668,
527
+ 30.45824585413169
528
+ ],
529
+ "type": "go straight",
530
+ "value": 3,
531
+ "yaw": -0.5235987755982894
532
+ }
533
+ }
534
+ {
535
+ "action": {
536
+ "imageid": 41,
537
+ "pos": [
538
+ -1129.219680537688,
539
+ -414.6861294809668,
540
+ 30.45824585413169
541
+ ],
542
+ "type": "go straight",
543
+ "value": 3,
544
+ "yaw": -0.5235987755982894
545
+ }
546
+ }
547
+ {
548
+ "action": {
549
+ "imageid": 42,
550
+ "pos": [
551
+ -1126.6216043263346,
552
+ -416.1861294809668,
553
+ 30.45824585413169
554
+ ],
555
+ "type": "go straight",
556
+ "value": 3,
557
+ "yaw": -0.5235987755982894
558
+ }
559
+ }
560
+ {
561
+ "action": {
562
+ "imageid": 43,
563
+ "pos": [
564
+ -1124.0235281149812,
565
+ -417.6861294809668,
566
+ 30.45824585413169
567
+ ],
568
+ "type": "go straight",
569
+ "value": 3,
570
+ "yaw": -0.5235987755982894
571
+ }
572
+ }
573
+ {
574
+ "action": {
575
+ "imageid": 44,
576
+ "pos": [
577
+ -1121.4254519036278,
578
+ -419.1861294809668,
579
+ 30.45824585413169
580
+ ],
581
+ "type": "go straight",
582
+ "value": 3,
583
+ "yaw": -0.5235987755982894
584
+ }
585
+ }
586
+ {
587
+ "action": {
588
+ "imageid": 45,
589
+ "pos": [
590
+ -1118.8273756922745,
591
+ -420.6861294809668,
592
+ 30.45824585413169
593
+ ],
594
+ "type": "go straight",
595
+ "value": 3,
596
+ "yaw": -0.5235987755982894
597
+ }
598
+ }
599
+ {
600
+ "action": {
601
+ "imageid": 46,
602
+ "pos": [
603
+ -1116.229299480921,
604
+ -422.1861294809668,
605
+ 30.45824585413169
606
+ ],
607
+ "type": "go straight",
608
+ "value": 3,
609
+ "yaw": -0.5235987755982894
610
+ }
611
+ }
612
+ {
613
+ "action": {
614
+ "imageid": 47,
615
+ "pos": [
616
+ -1113.6312232695677,
617
+ -423.6861294809668,
618
+ 30.45824585413169
619
+ ],
620
+ "type": "go straight",
621
+ "value": 3,
622
+ "yaw": -0.5235987755982894
623
+ }
624
+ }
625
+ {
626
+ "action": {
627
+ "imageid": 48,
628
+ "pos": [
629
+ -1111.0331470582144,
630
+ -425.1861294809668,
631
+ 30.45824585413169
632
+ ],
633
+ "type": "go straight",
634
+ "value": 3,
635
+ "yaw": -0.5235987755982894
636
+ }
637
+ }
638
+ {
639
+ "action": {
640
+ "imageid": 49,
641
+ "pos": [
642
+ -1108.435070846861,
643
+ -426.6861294809668,
644
+ 30.45824585413169
645
+ ],
646
+ "type": "go straight",
647
+ "value": 3,
648
+ "yaw": -0.5235987755982894
649
+ }
650
+ }
651
+ {
652
+ "action": {
653
+ "imageid": 50,
654
+ "pos": [
655
+ -1105.8369946355076,
656
+ -428.1861294809668,
657
+ 30.45824585413169
658
+ ],
659
+ "type": "go straight",
660
+ "value": 3,
661
+ "yaw": -0.5235987755982894
662
+ }
663
+ }
664
+ {
665
+ "action": {
666
+ "imageid": 51,
667
+ "pos": [
668
+ -1103.2389184241542,
669
+ -429.6861294809668,
670
+ 30.45824585413169
671
+ ],
672
+ "type": "stop",
673
+ "value": 0,
674
+ "yaw": -0.5235987755982894
675
+ }
676
+ }
677
+ {
678
+ "aim_landmark": {
679
+ "color": "test",
680
+ "feature": "test",
681
+ "position": [
682
+ -1096.0,
683
+ -432.0,
684
+ 19.0225
685
+ ],
686
+ "shape": "test",
687
+ "dir": "center",
688
+ "size": "test",
689
+ "type": "building"
690
+ }
691
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_12-45-28_1272469786/pose.jsonl ADDED
@@ -0,0 +1,522 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -723.1739599672447,
6
+ -82.6746371491561,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -724.6739599672447,
19
+ -80.07656093780278,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -726.1739599672447,
32
+ -77.47848472644947,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -727.6739599672447,
45
+ -74.88040851509615,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -729.1739599672447,
58
+ -72.28233230374283,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -730.6739599672447,
71
+ -69.68425609238952,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -732.1739599672447,
84
+ -67.0861798810362,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -733.6739599672447,
97
+ -64.48810366968289,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -735.1739599672447,
110
+ -61.89002745832957,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -736.6739599672447,
123
+ -59.291951246976254,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -738.1739599672447,
136
+ -56.69387503562294,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -739.6739599672447,
149
+ -54.09579882426962,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -741.1739599672447,
162
+ -51.497722612916306,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -742.6739599672447,
175
+ -48.89964640156299,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -744.1739599672447,
188
+ -46.301570190209674,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -745.6739599672447,
201
+ -43.70349397885636,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -747.1739599672447,
214
+ -41.10541776750304,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -748.6739599672447,
227
+ -38.507341556149726,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -750.1739599672447,
240
+ -35.90926534479641,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -751.6739599672447,
253
+ -33.311189133443094,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -753.1739599672447,
266
+ -30.713112922089778,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -754.6739599672447,
279
+ -28.11503671073646,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 2.0943951023931953
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -756.1739599672447,
292
+ -25.516960499383146,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "turn right",
296
+ "value": 30,
297
+ "yaw": 2.0943951023931953
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -756.1739599672447,
305
+ -25.516960499383146,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -756.1739599672447,
318
+ -22.516960499383146,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 1.5707963267948966
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -756.1739599672447,
331
+ -19.516960499383146,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 1.5707963267948966
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -756.1739599672447,
344
+ -16.516960499383146,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 1.5707963267948966
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -756.1739599672447,
357
+ -13.516960499383146,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": 1.5707963267948966
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -756.1739599672447,
370
+ -10.516960499383146,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": 1.5707963267948966
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -756.1739599672447,
383
+ -7.516960499383146,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": 1.5707963267948966
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -756.1739599672447,
396
+ -4.516960499383146,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": 1.5707963267948966
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -756.1739599672447,
409
+ -1.5169604993831456,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": 1.5707963267948966
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -756.1739599672447,
422
+ 1.4830395006168544,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": 1.5707963267948966
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -756.1739599672447,
435
+ 4.483039500616854,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": 1.5707963267948966
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -756.1739599672447,
448
+ 7.483039500616854,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": 1.5707963267948966
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -756.1739599672447,
461
+ 10.483039500616854,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": 1.5707963267948966
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -756.1739599672447,
474
+ 13.483039500616854,
475
+ 30.45824585413169
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": 1.5707963267948966
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -756.1739599672447,
487
+ 16.483039500616854,
488
+ 30.45824585413169
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": 1.5707963267948966
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ -756.1739599672447,
500
+ 19.483039500616854,
501
+ 30.45824585413169
502
+ ],
503
+ "type": "stop",
504
+ "value": 0,
505
+ "yaw": 1.5707963267948966
506
+ }
507
+ }
508
+ {
509
+ "aim_landmark": {
510
+ "color": "test",
511
+ "feature": "test",
512
+ "position": [
513
+ -764.0,
514
+ 44.0,
515
+ 31.1527
516
+ ],
517
+ "shape": "test",
518
+ "dir": "left",
519
+ "size": "test",
520
+ "type": "building"
521
+ }
522
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_12-52-28_1335354340/pose.jsonl ADDED
@@ -0,0 +1,717 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -157.56049899045647,
6
+ -3.1262274821474136,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -156.06049899045647,
19
+ -5.72430369350073,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -154.56049899045647,
32
+ -8.322379904854046,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -153.06049899045647,
45
+ -10.920456116207362,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -151.56049899045647,
58
+ -13.518532327560678,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -150.06049899045647,
71
+ -16.116608538913994,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -148.56049899045647,
84
+ -18.71468475026731,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -147.06049899045647,
97
+ -21.312760961620626,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -145.56049899045647,
110
+ -23.91083717297394,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -144.06049899045647,
123
+ -26.508913384327258,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -142.56049899045647,
136
+ -29.106989595680574,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "turn right",
140
+ "value": 30,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -142.56049899045647,
149
+ -29.106989595680574,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -142.56049899045647,
162
+ -32.106989595680574,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -142.56049899045647,
175
+ -35.106989595680574,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -142.56049899045647,
188
+ -38.106989595680574,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -142.56049899045647,
201
+ -41.106989595680574,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -142.56049899045647,
214
+ -44.106989595680574,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -142.56049899045647,
227
+ -47.106989595680574,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -142.56049899045647,
240
+ -50.106989595680574,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -142.56049899045647,
253
+ -53.106989595680574,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -142.56049899045647,
266
+ -56.106989595680574,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -142.56049899045647,
279
+ -59.106989595680574,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -142.56049899045647,
292
+ -62.106989595680574,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -142.56049899045647,
305
+ -65.10698959568057,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -142.56049899045647,
318
+ -68.10698959568057,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -1.5707963267948966
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -142.56049899045647,
331
+ -71.10698959568057,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -1.5707963267948966
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -142.56049899045647,
344
+ -74.10698959568057,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "turn left",
348
+ "value": 30,
349
+ "yaw": -1.5707963267948966
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -142.56049899045647,
357
+ -74.10698959568057,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "turn left",
361
+ "value": 30,
362
+ "yaw": -1.0471975511965979
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -142.56049899045647,
370
+ -74.10698959568057,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": -0.5235987755982989
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -139.96242277910315,
383
+ -75.60698959568057,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": -0.5235987755982988
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -137.36434656774983,
396
+ -77.10698959568057,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": -0.5235987755982988
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -134.76627035639652,
409
+ -78.60698959568057,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": -0.5235987755982988
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -132.1681941450432,
422
+ -80.10698959568057,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": -0.5235987755982988
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -129.5701179336899,
435
+ -81.60698959568057,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": -0.5235987755982988
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -126.97204172233657,
448
+ -83.10698959568057,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": -0.5235987755982988
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -124.37396551098325,
461
+ -84.60698959568057,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": -0.5235987755982988
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -121.77588929962994,
474
+ -86.10698959568057,
475
+ 30.45824585413169
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": -0.5235987755982988
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -119.17781308827662,
487
+ -87.60698959568057,
488
+ 30.45824585413169
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": -0.5235987755982988
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ -116.5797368769233,
500
+ -89.10698959568057,
501
+ 30.45824585413169
502
+ ],
503
+ "type": "go straight",
504
+ "value": 3,
505
+ "yaw": -0.5235987755982988
506
+ }
507
+ }
508
+ {
509
+ "action": {
510
+ "imageid": 39,
511
+ "pos": [
512
+ -113.98166066556999,
513
+ -90.60698959568057,
514
+ 30.45824585413169
515
+ ],
516
+ "type": "go straight",
517
+ "value": 3,
518
+ "yaw": -0.5235987755982988
519
+ }
520
+ }
521
+ {
522
+ "action": {
523
+ "imageid": 40,
524
+ "pos": [
525
+ -111.38358445421667,
526
+ -92.10698959568057,
527
+ 30.45824585413169
528
+ ],
529
+ "type": "go straight",
530
+ "value": 3,
531
+ "yaw": -0.5235987755982988
532
+ }
533
+ }
534
+ {
535
+ "action": {
536
+ "imageid": 41,
537
+ "pos": [
538
+ -108.78550824286336,
539
+ -93.60698959568057,
540
+ 30.45824585413169
541
+ ],
542
+ "type": "turn right",
543
+ "value": 30,
544
+ "yaw": -0.5235987755982988
545
+ }
546
+ }
547
+ {
548
+ "action": {
549
+ "imageid": 42,
550
+ "pos": [
551
+ -108.78550824286336,
552
+ -93.60698959568057,
553
+ 30.45824585413169
554
+ ],
555
+ "type": "turn right",
556
+ "value": 30,
557
+ "yaw": -1.0471975511965976
558
+ }
559
+ }
560
+ {
561
+ "action": {
562
+ "imageid": 43,
563
+ "pos": [
564
+ -108.78550824286336,
565
+ -93.60698959568057,
566
+ 30.45824585413169
567
+ ],
568
+ "type": "go straight",
569
+ "value": 3,
570
+ "yaw": -1.5707963267948966
571
+ }
572
+ }
573
+ {
574
+ "action": {
575
+ "imageid": 44,
576
+ "pos": [
577
+ -108.78550824286336,
578
+ -96.60698959568057,
579
+ 30.45824585413169
580
+ ],
581
+ "type": "go straight",
582
+ "value": 3,
583
+ "yaw": -1.5707963267948966
584
+ }
585
+ }
586
+ {
587
+ "action": {
588
+ "imageid": 45,
589
+ "pos": [
590
+ -108.78550824286336,
591
+ -99.60698959568057,
592
+ 30.45824585413169
593
+ ],
594
+ "type": "go straight",
595
+ "value": 3,
596
+ "yaw": -1.5707963267948966
597
+ }
598
+ }
599
+ {
600
+ "action": {
601
+ "imageid": 46,
602
+ "pos": [
603
+ -108.78550824286336,
604
+ -102.60698959568057,
605
+ 30.45824585413169
606
+ ],
607
+ "type": "go straight",
608
+ "value": 3,
609
+ "yaw": -1.5707963267948966
610
+ }
611
+ }
612
+ {
613
+ "action": {
614
+ "imageid": 47,
615
+ "pos": [
616
+ -108.78550824286336,
617
+ -105.60698959568057,
618
+ 30.45824585413169
619
+ ],
620
+ "type": "go straight",
621
+ "value": 3,
622
+ "yaw": -1.5707963267948966
623
+ }
624
+ }
625
+ {
626
+ "action": {
627
+ "imageid": 48,
628
+ "pos": [
629
+ -108.78550824286336,
630
+ -108.60698959568057,
631
+ 30.45824585413169
632
+ ],
633
+ "type": "go straight",
634
+ "value": 3,
635
+ "yaw": -1.5707963267948966
636
+ }
637
+ }
638
+ {
639
+ "action": {
640
+ "imageid": 49,
641
+ "pos": [
642
+ -108.78550824286336,
643
+ -111.60698959568057,
644
+ 30.45824585413169
645
+ ],
646
+ "type": "go straight",
647
+ "value": 3,
648
+ "yaw": -1.5707963267948966
649
+ }
650
+ }
651
+ {
652
+ "action": {
653
+ "imageid": 50,
654
+ "pos": [
655
+ -108.78550824286336,
656
+ -114.60698959568057,
657
+ 30.45824585413169
658
+ ],
659
+ "type": "go straight",
660
+ "value": 3,
661
+ "yaw": -1.5707963267948966
662
+ }
663
+ }
664
+ {
665
+ "action": {
666
+ "imageid": 51,
667
+ "pos": [
668
+ -108.78550824286336,
669
+ -117.60698959568057,
670
+ 30.45824585413169
671
+ ],
672
+ "type": "turn left",
673
+ "value": 30,
674
+ "yaw": -1.5707963267948966
675
+ }
676
+ }
677
+ {
678
+ "action": {
679
+ "imageid": 52,
680
+ "pos": [
681
+ -108.78550824286336,
682
+ -117.60698959568057,
683
+ 30.45824585413169
684
+ ],
685
+ "type": "go straight",
686
+ "value": 3,
687
+ "yaw": -1.0471975511965979
688
+ }
689
+ }
690
+ {
691
+ "action": {
692
+ "imageid": 53,
693
+ "pos": [
694
+ -107.28550824286336,
695
+ -120.20506580703389,
696
+ 30.45824585413169
697
+ ],
698
+ "type": "stop",
699
+ "value": 0,
700
+ "yaw": -1.0471975511965979
701
+ }
702
+ }
703
+ {
704
+ "aim_landmark": {
705
+ "color": "test",
706
+ "feature": "test",
707
+ "position": [
708
+ -100.0,
709
+ -136.0,
710
+ 43.732
711
+ ],
712
+ "shape": "test",
713
+ "dir": "center",
714
+ "size": "test",
715
+ "type": "building"
716
+ }
717
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_12-53-42_1494613810/pose.jsonl ADDED
@@ -0,0 +1,639 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1161.3780004603013,
6
+ 177.60034350511754,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1161.3780004603013,
19
+ 174.60034350511754,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1161.3780004603013,
32
+ 171.60034350511754,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1161.3780004603013,
45
+ 168.60034350511754,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -1161.3780004603013,
58
+ 165.60034350511754,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -1161.3780004603013,
71
+ 162.60034350511754,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -1161.3780004603013,
84
+ 159.60034350511754,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -1161.3780004603013,
97
+ 156.60034350511754,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -1161.3780004603013,
110
+ 153.60034350511754,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -1161.3780004603013,
123
+ 150.60034350511754,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -1161.3780004603013,
136
+ 147.60034350511754,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -1161.3780004603013,
149
+ 144.60034350511754,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -1161.3780004603013,
162
+ 141.60034350511754,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -1161.3780004603013,
175
+ 138.60034350511754,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -1161.3780004603013,
188
+ 135.60034350511754,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -1161.3780004603013,
201
+ 132.60034350511754,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -1161.3780004603013,
214
+ 129.60034350511754,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -1161.3780004603013,
227
+ 126.60034350511754,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -1161.3780004603013,
240
+ 123.60034350511754,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -1161.3780004603013,
253
+ 120.60034350511754,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -1161.3780004603013,
266
+ 117.60034350511754,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -1161.3780004603013,
279
+ 114.60034350511754,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -1161.3780004603013,
292
+ 111.60034350511754,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -1161.3780004603013,
305
+ 108.60034350511754,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -1161.3780004603013,
318
+ 105.60034350511754,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -1.5707963267948966
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -1161.3780004603013,
331
+ 102.60034350511754,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -1.5707963267948966
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -1161.3780004603013,
344
+ 99.60034350511754,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -1.5707963267948966
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -1161.3780004603013,
357
+ 96.60034350511754,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": -1.5707963267948966
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -1161.3780004603013,
370
+ 93.60034350511754,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": -1.5707963267948966
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -1161.3780004603013,
383
+ 90.60034350511754,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": -1.5707963267948966
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -1161.3780004603013,
396
+ 87.60034350511754,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": -1.5707963267948966
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -1161.3780004603013,
409
+ 84.60034350511754,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": -1.5707963267948966
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -1161.3780004603013,
422
+ 81.60034350511754,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": -1.5707963267948966
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -1161.3780004603013,
435
+ 78.60034350511754,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": -1.5707963267948966
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -1161.3780004603013,
448
+ 75.60034350511754,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "turn left",
452
+ "value": 30,
453
+ "yaw": -1.5707963267948966
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -1161.3780004603013,
461
+ 75.60034350511754,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": -1.0471975511965979
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -1159.8780004603013,
474
+ 73.00226729376422,
475
+ 30.45824585413169
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": -1.0471975511965979
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -1158.3780004603013,
487
+ 70.4041910824109,
488
+ 30.45824585413169
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": -1.0471975511965979
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ -1156.8780004603013,
500
+ 67.80611487105759,
501
+ 30.45824585413169
502
+ ],
503
+ "type": "go straight",
504
+ "value": 3,
505
+ "yaw": -1.0471975511965979
506
+ }
507
+ }
508
+ {
509
+ "action": {
510
+ "imageid": 39,
511
+ "pos": [
512
+ -1155.3780004603013,
513
+ 65.20803865970427,
514
+ 30.45824585413169
515
+ ],
516
+ "type": "go straight",
517
+ "value": 3,
518
+ "yaw": -1.0471975511965979
519
+ }
520
+ }
521
+ {
522
+ "action": {
523
+ "imageid": 40,
524
+ "pos": [
525
+ -1153.8780004603013,
526
+ 62.609962448350956,
527
+ 30.45824585413169
528
+ ],
529
+ "type": "go straight",
530
+ "value": 3,
531
+ "yaw": -1.0471975511965979
532
+ }
533
+ }
534
+ {
535
+ "action": {
536
+ "imageid": 41,
537
+ "pos": [
538
+ -1152.3780004603013,
539
+ 60.01188623699764,
540
+ 30.45824585413169
541
+ ],
542
+ "type": "go straight",
543
+ "value": 3,
544
+ "yaw": -1.0471975511965979
545
+ }
546
+ }
547
+ {
548
+ "action": {
549
+ "imageid": 42,
550
+ "pos": [
551
+ -1150.8780004603013,
552
+ 57.413810025644324,
553
+ 30.45824585413169
554
+ ],
555
+ "type": "go straight",
556
+ "value": 3,
557
+ "yaw": -1.0471975511965979
558
+ }
559
+ }
560
+ {
561
+ "action": {
562
+ "imageid": 43,
563
+ "pos": [
564
+ -1149.3780004603013,
565
+ 54.81573381429101,
566
+ 30.45824585413169
567
+ ],
568
+ "type": "go straight",
569
+ "value": 3,
570
+ "yaw": -1.0471975511965979
571
+ }
572
+ }
573
+ {
574
+ "action": {
575
+ "imageid": 44,
576
+ "pos": [
577
+ -1147.8780004603013,
578
+ 52.21765760293769,
579
+ 30.45824585413169
580
+ ],
581
+ "type": "go straight",
582
+ "value": 3,
583
+ "yaw": -1.0471975511965979
584
+ }
585
+ }
586
+ {
587
+ "action": {
588
+ "imageid": 45,
589
+ "pos": [
590
+ -1146.3780004603013,
591
+ 49.619581391584376,
592
+ 30.45824585413169
593
+ ],
594
+ "type": "go straight",
595
+ "value": 3,
596
+ "yaw": -1.0471975511965979
597
+ }
598
+ }
599
+ {
600
+ "action": {
601
+ "imageid": 46,
602
+ "pos": [
603
+ -1144.8780004603013,
604
+ 47.02150518023106,
605
+ 30.45824585413169
606
+ ],
607
+ "type": "go straight",
608
+ "value": 3,
609
+ "yaw": -1.0471975511965979
610
+ }
611
+ }
612
+ {
613
+ "action": {
614
+ "imageid": 47,
615
+ "pos": [
616
+ -1143.3780004603013,
617
+ 44.423428968877744,
618
+ 30.45824585413169
619
+ ],
620
+ "type": "stop",
621
+ "value": 0,
622
+ "yaw": -1.0471975511965979
623
+ }
624
+ }
625
+ {
626
+ "aim_landmark": {
627
+ "color": "test",
628
+ "feature": "test",
629
+ "position": [
630
+ -1144.0,
631
+ 32.0,
632
+ 19.2927
633
+ ],
634
+ "shape": "test",
635
+ "dir": "right",
636
+ "size": "test",
637
+ "type": "building"
638
+ }
639
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_12-56-20_1346811305/pose.jsonl ADDED
@@ -0,0 +1,509 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1006.500752640528,
6
+ 104.65216941734253,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1008.000752640528,
19
+ 102.05409320598922,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1009.500752640528,
32
+ 99.4560169946359,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1011.000752640528,
45
+ 96.85794078328259,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -1012.500752640528,
58
+ 94.25986457192927,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -1014.000752640528,
71
+ 91.66178836057595,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "turn left",
75
+ "value": 30,
76
+ "yaw": -2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -1014.000752640528,
84
+ 91.66178836057595,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -1014.000752640528,
97
+ 88.66178836057595,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -1014.000752640528,
110
+ 85.66178836057595,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -1014.000752640528,
123
+ 82.66178836057595,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -1014.000752640528,
136
+ 79.66178836057595,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -1014.000752640528,
149
+ 76.66178836057595,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -1014.000752640528,
162
+ 73.66178836057595,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -1014.000752640528,
175
+ 70.66178836057595,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -1014.000752640528,
188
+ 67.66178836057595,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -1014.000752640528,
201
+ 64.66178836057595,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -1014.000752640528,
214
+ 61.661788360575954,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -1014.000752640528,
227
+ 58.661788360575954,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -1014.000752640528,
240
+ 55.661788360575954,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -1014.000752640528,
253
+ 52.661788360575954,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -1014.000752640528,
266
+ 49.661788360575954,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -1014.000752640528,
279
+ 46.661788360575954,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -1014.000752640528,
292
+ 43.661788360575954,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -1014.000752640528,
305
+ 40.661788360575954,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -1014.000752640528,
318
+ 37.661788360575954,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -1.5707963267948966
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -1014.000752640528,
331
+ 34.661788360575954,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -1.5707963267948966
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -1014.000752640528,
344
+ 31.661788360575954,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -1.5707963267948966
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -1014.000752640528,
357
+ 28.661788360575954,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "turn left",
361
+ "value": 30,
362
+ "yaw": -1.5707963267948966
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -1014.000752640528,
370
+ 28.661788360575954,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": -1.0471975511965979
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -1012.500752640528,
383
+ 26.06371214922264,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": -1.0471975511965979
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -1011.000752640528,
396
+ 23.465635937869322,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": -1.0471975511965979
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -1009.500752640528,
409
+ 20.867559726516006,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": -1.0471975511965979
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -1008.000752640528,
422
+ 18.26948351516269,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": -1.0471975511965979
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -1006.500752640528,
435
+ 15.671407303809374,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "turn right",
439
+ "value": 30,
440
+ "yaw": -1.0471975511965979
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -1006.500752640528,
448
+ 15.671407303809374,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": -1.5707963267948966
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -1006.500752640528,
461
+ 12.671407303809374,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": -1.5707963267948966
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -1006.500752640528,
474
+ 9.671407303809374,
475
+ 30.45824585413169
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": -1.5707963267948966
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -1006.500752640528,
487
+ 6.671407303809374,
488
+ 30.45824585413169
489
+ ],
490
+ "type": "stop",
491
+ "value": 0,
492
+ "yaw": -1.5707963267948966
493
+ }
494
+ }
495
+ {
496
+ "aim_landmark": {
497
+ "color": "test",
498
+ "feature": "test",
499
+ "position": [
500
+ -1004.0,
501
+ -20.0,
502
+ 45.9813
503
+ ],
504
+ "shape": "test",
505
+ "dir": "center",
506
+ "size": "test",
507
+ "type": "building"
508
+ }
509
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_13-12-5_437116466/pose.jsonl ADDED
@@ -0,0 +1,119 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -23.80629107762308,
6
+ -583.4021653405501,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.094395102393205
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -25.30629107762308,
19
+ -586.0002415519034,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.094395102393205
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -26.80629107762308,
32
+ -588.5983177632568,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.094395102393186
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -28.30629107762308,
45
+ -591.1963939746101,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.094395102393186
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -29.80629107762308,
58
+ -593.7944701859635,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "turn left",
62
+ "value": 30,
63
+ "yaw": -2.094395102393186
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -29.80629107762308,
71
+ -593.7944701859635,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.5707963267948872
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -29.80629107762308,
84
+ -596.7944701859635,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -29.80629107762308,
97
+ -599.7944701859635,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "stop",
101
+ "value": 0,
102
+ "yaw": -1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "aim_landmark": {
107
+ "color": "test",
108
+ "feature": "test",
109
+ "position": [
110
+ -60.0,
111
+ -680.0,
112
+ 43.7495
113
+ ],
114
+ "shape": "test",
115
+ "dir": "center",
116
+ "size": "test",
117
+ "type": "building"
118
+ }
119
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_13-32-17_570073850/pose.jsonl ADDED
@@ -0,0 +1,444 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -788.8597982791077,
6
+ -479.10223256285275,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -790.3597982791077,
19
+ -476.50415635149943,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -791.8597982791077,
32
+ -473.9060801401461,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -793.3597982791077,
45
+ -471.3080039287928,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -794.8597982791077,
58
+ -468.7099277174395,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -796.3597982791077,
71
+ -466.11185150608617,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -797.8597982791077,
84
+ -463.51377529473285,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -799.3597982791077,
97
+ -460.91569908337954,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -800.8597982791077,
110
+ -458.3176228720262,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -802.3597982791077,
123
+ -455.7195466606729,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -803.8597982791077,
136
+ -453.1214704493196,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -805.3597982791077,
149
+ -450.5233942379663,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -806.8597982791077,
162
+ -447.92531802661296,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -808.3597982791077,
175
+ -445.32724181525964,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -809.8597982791077,
188
+ -442.7291656039063,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -811.3597982791077,
201
+ -440.131089392553,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -812.8597982791077,
214
+ -437.5330131811997,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "turn left",
218
+ "value": 30,
219
+ "yaw": 2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -812.8597982791077,
227
+ -437.5330131811997,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.617993877991494
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -815.4578744904611,
240
+ -436.0330131811997,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.6179938779915037
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -818.0559507018145,
253
+ -434.5330131811997,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 2.6179938779915037
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -820.6540269131679,
266
+ -433.0330131811997,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 2.6179938779915037
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -823.2521031245212,
279
+ -431.5330131811997,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 2.6179938779915037
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -825.8501793358746,
292
+ -430.0330131811997,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 2.6179938779915037
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -828.448255547228,
305
+ -428.5330131811997,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "turn left",
309
+ "value": 30,
310
+ "yaw": 2.6179938779915037
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -828.448255547228,
318
+ -428.5330131811997,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 3.1415926535898024
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -831.448255547228,
331
+ -428.5330131811997,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 3.141592653589793
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -834.448255547228,
344
+ -428.5330131811997,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 3.141592653589793
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -837.448255547228,
357
+ -428.5330131811997,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": 3.141592653589793
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -840.448255547228,
370
+ -428.5330131811997,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": 3.141592653589793
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -843.448255547228,
383
+ -428.5330131811997,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": 3.141592653589793
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -846.448255547228,
396
+ -428.5330131811997,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": 3.141592653589793
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -849.448255547228,
409
+ -428.5330131811997,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": 3.141592653589793
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -852.448255547228,
422
+ -428.5330131811997,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "stop",
426
+ "value": 0,
427
+ "yaw": 3.141592653589793
428
+ }
429
+ }
430
+ {
431
+ "aim_landmark": {
432
+ "color": "test",
433
+ "feature": "test",
434
+ "position": [
435
+ -876.0,
436
+ -412.0,
437
+ 41.6566
438
+ ],
439
+ "shape": "test",
440
+ "dir": "right",
441
+ "size": "test",
442
+ "type": "building"
443
+ }
444
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_13-35-28_446340713/pose.jsonl ADDED
@@ -0,0 +1,288 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -176.2259017572711,
6
+ -48.76204641893706,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -174.7259017572711,
19
+ -51.36012263029038,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -173.2259017572711,
32
+ -53.95819884164369,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -171.7259017572711,
45
+ -56.55627505299701,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -170.2259017572711,
58
+ -59.154351264350325,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -168.7259017572711,
71
+ -61.75242747570364,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -167.2259017572711,
84
+ -64.35050368705696,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -165.7259017572711,
97
+ -66.94857989841027,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -164.2259017572711,
110
+ -69.54665610976359,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -162.7259017572711,
123
+ -72.1447323211169,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -161.2259017572711,
136
+ -74.74280853247022,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -159.7259017572711,
149
+ -77.34088474382354,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "turn left",
153
+ "value": 30,
154
+ "yaw": -1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -159.7259017572711,
162
+ -77.34088474382354,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -0.523598775598299
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -157.12782554591777,
175
+ -78.84088474382354,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -0.5235987755982988
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -154.52974933456446,
188
+ -80.34088474382354,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -0.5235987755982988
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -151.93167312321114,
201
+ -81.84088474382354,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -0.5235987755982988
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -149.33359691185782,
214
+ -83.34088474382354,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -0.5235987755982988
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -146.7355207005045,
227
+ -84.84088474382354,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -144.1374444891512,
240
+ -86.34088474382354,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -0.5235987755982988
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -141.53936827779788,
253
+ -87.84088474382354,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -0.5235987755982988
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -138.94129206644456,
266
+ -89.34088474382354,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "stop",
270
+ "value": 0,
271
+ "yaw": -0.5235987755982988
272
+ }
273
+ }
274
+ {
275
+ "aim_landmark": {
276
+ "color": "test",
277
+ "feature": "test",
278
+ "position": [
279
+ -100.0,
280
+ -136.0,
281
+ 43.732
282
+ ],
283
+ "shape": "test",
284
+ "dir": "center",
285
+ "size": "test",
286
+ "type": "building"
287
+ }
288
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_13-43-23_105575579/pose.jsonl ADDED
@@ -0,0 +1,392 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 78.05480744009881,
6
+ -258.35029809685307,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 79.55480744009881,
19
+ -255.75222188549975,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 81.05480744009881,
32
+ -253.15414567414643,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 82.55480744009881,
45
+ -250.55606946279312,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 84.05480744009881,
58
+ -247.9579932514398,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 85.55480744009881,
71
+ -245.3599170400865,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 87.05480744009881,
84
+ -242.76184082873317,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 88.55480744009881,
97
+ -240.16376461737985,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 90.05480744009881,
110
+ -237.56568840602654,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 91.55480744009881,
123
+ -234.96761219467322,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 93.05480744009881,
136
+ -232.3695359833199,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 94.55480744009881,
149
+ -229.7714597719666,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 96.05480744009881,
162
+ -227.17338356061327,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "turn left",
166
+ "value": 30,
167
+ "yaw": 1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 96.05480744009881,
175
+ -227.17338356061327,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 96.05480744009881,
188
+ -224.17338356061327,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 96.05480744009881,
201
+ -221.17338356061327,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 96.05480744009881,
214
+ -218.17338356061327,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 96.05480744009881,
227
+ -215.17338356061327,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "turn right",
231
+ "value": 30,
232
+ "yaw": 1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 96.05480744009881,
240
+ -215.17338356061327,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "turn right",
244
+ "value": 30,
245
+ "yaw": 1.0471975511965979
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 96.05480744009881,
253
+ -215.17338356061327,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 0.5235987755982989
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 98.65288365145213,
266
+ -213.67338356061327,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 0.5235987755982988
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 101.25095986280544,
279
+ -212.17338356061327,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 0.5235987755982988
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 103.84903607415876,
292
+ -210.67338356061327,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "turn left",
296
+ "value": 30,
297
+ "yaw": 0.5235987755982988
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 103.84903607415876,
305
+ -210.67338356061327,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 1.0471975511965976
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 105.34903607415876,
318
+ -208.07530734925996,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 1.0471975511965979
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 106.84903607415876,
331
+ -205.47723113790664,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 1.0471975511965979
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 108.34903607415876,
344
+ -202.87915492655333,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 1.0471975511965979
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ 109.84903607415876,
357
+ -200.2810787152,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": 1.0471975511965979
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ 111.34903607415876,
370
+ -197.6830025038467,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "stop",
374
+ "value": 0,
375
+ "yaw": 1.0471975511965979
376
+ }
377
+ }
378
+ {
379
+ "aim_landmark": {
380
+ "color": "test",
381
+ "feature": "test",
382
+ "position": [
383
+ 132.0,
384
+ -164.0,
385
+ 75.7737
386
+ ],
387
+ "shape": "test",
388
+ "dir": "center",
389
+ "size": "test",
390
+ "type": "building"
391
+ }
392
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_13-48-54_110613202/pose.jsonl ADDED
@@ -0,0 +1,561 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -846.1793461747654,
6
+ 79.97371317630152,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -0.5235987755982894
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -843.5812699634121,
19
+ 78.47371317630152,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -0.5235987755982894
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -840.9831937520587,
32
+ 76.97371317630152,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "turn right",
36
+ "value": 30,
37
+ "yaw": -0.5235987755982894
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -840.9831937520587,
45
+ 76.97371317630152,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "turn right",
49
+ "value": 30,
50
+ "yaw": -1.047197551196588
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -840.9831937520587,
58
+ 76.97371317630152,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.570796326794887
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -840.9831937520587,
71
+ 73.97371317630152,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -840.9831937520587,
84
+ 70.97371317630152,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -840.9831937520587,
97
+ 67.97371317630152,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -840.9831937520587,
110
+ 64.97371317630152,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -840.9831937520587,
123
+ 61.973713176301516,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -840.9831937520587,
136
+ 58.973713176301516,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -840.9831937520587,
149
+ 55.973713176301516,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -840.9831937520587,
162
+ 52.973713176301516,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -840.9831937520587,
175
+ 49.973713176301516,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -840.9831937520587,
188
+ 46.973713176301516,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -840.9831937520587,
201
+ 43.973713176301516,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -840.9831937520587,
214
+ 40.973713176301516,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -840.9831937520587,
227
+ 37.973713176301516,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "turn right",
231
+ "value": 30,
232
+ "yaw": -1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -840.9831937520587,
240
+ 37.973713176301516,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -842.4831937520587,
253
+ 35.3756369649482,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -843.9831937520587,
266
+ 32.777560753594884,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -845.4831937520587,
279
+ 30.179484542241568,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -2.0943951023931953
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -846.9831937520587,
292
+ 27.58140833088825,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -2.0943951023931953
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -848.4831937520587,
305
+ 24.983332119534936,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -2.0943951023931953
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -849.9831937520587,
318
+ 22.38525590818162,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -2.0943951023931953
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -851.4831937520587,
331
+ 19.787179696828304,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -2.0943951023931953
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -852.9831937520587,
344
+ 17.189103485474988,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -2.0943951023931953
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -854.4831937520587,
357
+ 14.591027274121672,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": -2.0943951023931953
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -855.9831937520587,
370
+ 11.992951062768356,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": -2.0943951023931953
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -857.4831937520587,
383
+ 9.39487485141504,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": -2.0943951023931953
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -858.9831937520587,
396
+ 6.7967986400617235,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": -2.0943951023931953
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -860.4831937520587,
409
+ 4.1987224287084075,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": -2.0943951023931953
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -861.9831937520587,
422
+ 1.6006462173550915,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": -2.0943951023931953
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -863.4831937520587,
435
+ -0.9974299939982245,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": -2.0943951023931953
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -864.9831937520587,
448
+ -3.5955062053515405,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": -2.0943951023931953
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -866.4831937520587,
461
+ -6.1935824167048565,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": -2.0943951023931953
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -867.9831937520587,
474
+ -8.791658628058173,
475
+ 30.45824585413169
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": -2.0943951023931953
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -869.4831937520587,
487
+ -11.389734839411489,
488
+ 30.45824585413169
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": -2.0943951023931953
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ -870.9831937520587,
500
+ -13.987811050764805,
501
+ 30.45824585413169
502
+ ],
503
+ "type": "go straight",
504
+ "value": 3,
505
+ "yaw": -2.0943951023931953
506
+ }
507
+ }
508
+ {
509
+ "action": {
510
+ "imageid": 39,
511
+ "pos": [
512
+ -872.4831937520587,
513
+ -16.58588726211812,
514
+ 30.45824585413169
515
+ ],
516
+ "type": "go straight",
517
+ "value": 3,
518
+ "yaw": -2.0943951023931953
519
+ }
520
+ }
521
+ {
522
+ "action": {
523
+ "imageid": 40,
524
+ "pos": [
525
+ -873.9831937520587,
526
+ -19.183963473471437,
527
+ 30.45824585413169
528
+ ],
529
+ "type": "go straight",
530
+ "value": 3,
531
+ "yaw": -2.0943951023931953
532
+ }
533
+ }
534
+ {
535
+ "action": {
536
+ "imageid": 41,
537
+ "pos": [
538
+ -875.4831937520587,
539
+ -21.782039684824753,
540
+ 30.45824585413169
541
+ ],
542
+ "type": "stop",
543
+ "value": 0,
544
+ "yaw": -2.0943951023931953
545
+ }
546
+ }
547
+ {
548
+ "aim_landmark": {
549
+ "color": "test",
550
+ "feature": "test",
551
+ "position": [
552
+ -880.0,
553
+ -32.0,
554
+ 45.9813
555
+ ],
556
+ "shape": "test",
557
+ "dir": "center",
558
+ "size": "test",
559
+ "type": "building"
560
+ }
561
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_13-51-21_255789528/pose.jsonl ADDED
@@ -0,0 +1,483 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1006.2824984059962,
6
+ -60.59659009706527,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.6179938779915037
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1008.8805746173496,
19
+ -62.09659009706527,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.6179938779915037
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1011.4786508287029,
32
+ -63.59659009706527,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.6179938779915037
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1014.0767270400563,
45
+ -65.09659009706526,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.617993877991506
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -1016.6748032514097,
58
+ -66.59659009706526,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.6179938779915037
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -1019.2728794627631,
71
+ -68.09659009706526,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.6179938779915037
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -1021.8709556741164,
84
+ -69.59659009706526,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.6179938779915037
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -1024.4690318854698,
97
+ -71.09659009706526,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.6179938779915037
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -1027.0671080968232,
110
+ -72.59659009706526,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.6179938779915037
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -1029.6651843081765,
123
+ -74.09659009706526,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "turn right",
127
+ "value": 30,
128
+ "yaw": -2.6179938779915037
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -1029.6651843081765,
136
+ -74.09659009706526,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -3.1415926535898024
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -1032.6651843081765,
149
+ -74.09659009706526,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 3.141592653589793
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -1035.6651843081765,
162
+ -74.09659009706526,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 3.141592653589793
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -1038.6651843081765,
175
+ -74.09659009706526,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 3.141592653589793
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -1041.6651843081765,
188
+ -74.09659009706526,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 3.141592653589793
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -1044.6651843081765,
201
+ -74.09659009706526,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 3.141592653589793
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -1047.6651843081765,
214
+ -74.09659009706526,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 3.141592653589793
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -1050.6651843081765,
227
+ -74.09659009706526,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 3.141592653589793
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -1053.6651843081765,
240
+ -74.09659009706526,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 3.141592653589793
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -1056.6651843081765,
253
+ -74.09659009706526,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 3.141592653589793
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -1059.6651843081765,
266
+ -74.09659009706526,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 3.141592653589793
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -1062.6651843081765,
279
+ -74.09659009706526,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 3.141592653589793
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -1065.6651843081765,
292
+ -74.09659009706526,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 3.141592653589793
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -1068.6651843081765,
305
+ -74.09659009706526,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 3.141592653589793
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -1071.6651843081765,
318
+ -74.09659009706526,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 3.141592653589793
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -1074.6651843081765,
331
+ -74.09659009706526,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 3.141592653589793
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -1077.6651843081765,
344
+ -74.09659009706526,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 3.141592653589793
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -1080.6651843081765,
357
+ -74.09659009706526,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": 3.141592653589793
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -1083.6651843081765,
370
+ -74.09659009706526,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": 3.141592653589793
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -1086.6651843081765,
383
+ -74.09659009706526,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": 3.141592653589793
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -1089.6651843081765,
396
+ -74.09659009706526,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": 3.141592653589793
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -1092.6651843081765,
409
+ -74.09659009706526,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "turn left",
413
+ "value": 30,
414
+ "yaw": 3.141592653589793
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -1092.6651843081765,
422
+ -74.09659009706526,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": 3.665191429188092
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -1095.26326051953,
435
+ -75.59659009706526,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": -2.6179938779915037
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -1097.8613367308833,
448
+ -77.09659009706526,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": -2.6179938779915037
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -1100.4594129422367,
461
+ -78.59659009706526,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "stop",
465
+ "value": 0,
466
+ "yaw": -2.6179938779915037
467
+ }
468
+ }
469
+ {
470
+ "aim_landmark": {
471
+ "color": "test",
472
+ "feature": "test",
473
+ "position": [
474
+ -1132.0,
475
+ -88.0,
476
+ 42.0581
477
+ ],
478
+ "shape": "test",
479
+ "dir": "center",
480
+ "size": "test",
481
+ "type": "building"
482
+ }
483
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_14-1-5_739273303/pose.jsonl ADDED
@@ -0,0 +1,639 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 384.91472782120866,
6
+ -103.59059616756286,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.6179938779914944
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 382.31665160985534,
19
+ -105.09059616756286,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.6179938779914944
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 379.718575398502,
32
+ -106.59059616756286,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.6179938779914944
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 377.1204991871487,
45
+ -108.09059616756286,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.6179938779914944
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 374.5224229757954,
58
+ -109.59059616756286,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.6179938779914944
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 371.9243467644421,
71
+ -111.09059616756286,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.6179938779914944
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 369.32627055308876,
84
+ -112.59059616756286,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.6179938779914944
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 366.72819434173545,
97
+ -114.09059616756286,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.6179938779914944
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 364.13011813038213,
110
+ -115.59059616756286,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.6179938779914944
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 361.5320419190288,
123
+ -117.09059616756286,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.6179938779914944
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 358.9339657076755,
136
+ -118.59059616756286,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.6179938779914944
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 356.3358894963222,
149
+ -120.09059616756286,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.6179938779914944
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 353.73781328496887,
162
+ -121.59059616756286,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.6179938779914944
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 351.13973707361555,
175
+ -123.09059616756286,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.6179938779914944
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 348.54166086226223,
188
+ -124.59059616756286,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.6179938779914944
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 345.9435846509089,
201
+ -126.09059616756286,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.6179938779914944
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 343.3455084395556,
214
+ -127.59059616756286,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "turn right",
218
+ "value": 30,
219
+ "yaw": -2.6179938779914944
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 343.3455084395556,
227
+ -127.59059616756286,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -3.141592653589793
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 340.3455084395556,
240
+ -127.59059616756286,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 3.141592653589793
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 337.3455084395556,
253
+ -127.59059616756286,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 3.141592653589793
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 334.3455084395556,
266
+ -127.59059616756286,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 3.141592653589793
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 331.3455084395556,
279
+ -127.59059616756286,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 3.141592653589793
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 328.3455084395556,
292
+ -127.59059616756286,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 3.141592653589793
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 325.3455084395556,
305
+ -127.59059616756286,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 3.141592653589793
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 322.3455084395556,
318
+ -127.59059616756286,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 3.141592653589793
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 319.3455084395556,
331
+ -127.59059616756286,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 3.141592653589793
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 316.3455084395556,
344
+ -127.59059616756286,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 3.141592653589793
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ 313.3455084395556,
357
+ -127.59059616756286,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": 3.141592653589793
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ 310.3455084395556,
370
+ -127.59059616756286,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": 3.141592653589793
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ 307.3455084395556,
383
+ -127.59059616756286,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": 3.141592653589793
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ 304.3455084395556,
396
+ -127.59059616756286,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": 3.141592653589793
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ 301.3455084395556,
409
+ -127.59059616756286,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": 3.141592653589793
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ 298.3455084395556,
422
+ -127.59059616756286,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": 3.141592653589793
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ 295.3455084395556,
435
+ -127.59059616756286,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": 3.141592653589793
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ 292.3455084395556,
448
+ -127.59059616756286,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "turn left",
452
+ "value": 30,
453
+ "yaw": 3.141592653589793
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ 292.3455084395556,
461
+ -127.59059616756286,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "turn left",
465
+ "value": 30,
466
+ "yaw": 3.665191429188092
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ 292.3455084395556,
474
+ -127.59059616756286,
475
+ 30.45824585413169
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": 4.1887902047863905
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ 290.8455084395556,
487
+ -130.18867237891618,
488
+ 30.45824585413169
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": -2.0943951023931953
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ 289.3455084395556,
500
+ -132.7867485902695,
501
+ 30.45824585413169
502
+ ],
503
+ "type": "go straight",
504
+ "value": 3,
505
+ "yaw": -2.0943951023931953
506
+ }
507
+ }
508
+ {
509
+ "action": {
510
+ "imageid": 39,
511
+ "pos": [
512
+ 287.8455084395556,
513
+ -135.3848248016228,
514
+ 30.45824585413169
515
+ ],
516
+ "type": "go straight",
517
+ "value": 3,
518
+ "yaw": -2.0943951023931953
519
+ }
520
+ }
521
+ {
522
+ "action": {
523
+ "imageid": 40,
524
+ "pos": [
525
+ 286.3455084395556,
526
+ -137.98290101297613,
527
+ 30.45824585413169
528
+ ],
529
+ "type": "go straight",
530
+ "value": 3,
531
+ "yaw": -2.0943951023931953
532
+ }
533
+ }
534
+ {
535
+ "action": {
536
+ "imageid": 41,
537
+ "pos": [
538
+ 284.8455084395556,
539
+ -140.58097722432944,
540
+ 30.45824585413169
541
+ ],
542
+ "type": "go straight",
543
+ "value": 3,
544
+ "yaw": -2.0943951023931953
545
+ }
546
+ }
547
+ {
548
+ "action": {
549
+ "imageid": 42,
550
+ "pos": [
551
+ 283.3455084395556,
552
+ -143.17905343568276,
553
+ 30.45824585413169
554
+ ],
555
+ "type": "go straight",
556
+ "value": 3,
557
+ "yaw": -2.0943951023931953
558
+ }
559
+ }
560
+ {
561
+ "action": {
562
+ "imageid": 43,
563
+ "pos": [
564
+ 281.8455084395556,
565
+ -145.77712964703608,
566
+ 30.45824585413169
567
+ ],
568
+ "type": "go straight",
569
+ "value": 3,
570
+ "yaw": -2.0943951023931953
571
+ }
572
+ }
573
+ {
574
+ "action": {
575
+ "imageid": 44,
576
+ "pos": [
577
+ 280.3455084395556,
578
+ -148.3752058583894,
579
+ 30.45824585413169
580
+ ],
581
+ "type": "turn right",
582
+ "value": 30,
583
+ "yaw": -2.0943951023931953
584
+ }
585
+ }
586
+ {
587
+ "action": {
588
+ "imageid": 45,
589
+ "pos": [
590
+ 280.3455084395556,
591
+ -148.3752058583894,
592
+ 30.45824585413169
593
+ ],
594
+ "type": "go straight",
595
+ "value": 3,
596
+ "yaw": -2.617993877991494
597
+ }
598
+ }
599
+ {
600
+ "action": {
601
+ "imageid": 46,
602
+ "pos": [
603
+ 277.7474322282023,
604
+ -149.8752058583894,
605
+ 30.45824585413169
606
+ ],
607
+ "type": "go straight",
608
+ "value": 3,
609
+ "yaw": -2.6179938779914944
610
+ }
611
+ }
612
+ {
613
+ "action": {
614
+ "imageid": 47,
615
+ "pos": [
616
+ 275.14935601684897,
617
+ -151.3752058583894,
618
+ 30.45824585413169
619
+ ],
620
+ "type": "stop",
621
+ "value": 0,
622
+ "yaw": -2.6179938779914944
623
+ }
624
+ }
625
+ {
626
+ "aim_landmark": {
627
+ "color": "test",
628
+ "feature": "test",
629
+ "position": [
630
+ 272.0,
631
+ -152.0,
632
+ 24.7254
633
+ ],
634
+ "shape": "test",
635
+ "dir": "center",
636
+ "size": "test",
637
+ "type": "building"
638
+ }
639
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_14-55-51_1376035217/pose.jsonl ADDED
@@ -0,0 +1,639 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1225.8252821672781,
6
+ -199.66358408478118,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1222.8252821672781,
19
+ -199.66358408478118,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1219.8252821672781,
32
+ -199.66358408478118,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1216.8252821672781,
45
+ -199.66358408478118,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -1213.8252821672781,
58
+ -199.66358408478118,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -1210.8252821672781,
71
+ -199.66358408478118,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -1207.8252821672781,
84
+ -199.66358408478118,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -1204.8252821672781,
97
+ -199.66358408478118,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -1201.8252821672781,
110
+ -199.66358408478118,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -1198.8252821672781,
123
+ -199.66358408478118,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.0
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -1195.8252821672781,
136
+ -199.66358408478118,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.0
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -1192.8252821672781,
149
+ -199.66358408478118,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.0
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -1189.8252821672781,
162
+ -199.66358408478118,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "turn right",
166
+ "value": 30,
167
+ "yaw": 0.0
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -1189.8252821672781,
175
+ -199.66358408478118,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -0.5235987755982988
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -1187.2272059559248,
188
+ -201.16358408478118,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -0.5235987755982894
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -1184.6291297445714,
201
+ -202.66358408478118,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -0.5235987755982894
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -1182.031053533218,
214
+ -204.16358408478118,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -0.5235987755982894
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -1179.4329773218647,
227
+ -205.66358408478118,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -0.5235987755982894
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -1176.8349011105113,
240
+ -207.16358408478118,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -0.5235987755982894
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -1174.236824899158,
253
+ -208.66358408478118,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -0.5235987755982894
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -1171.6387486878045,
266
+ -210.16358408478118,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -0.5235987755982894
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -1169.0406724764512,
279
+ -211.66358408478118,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -0.5235987755982894
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -1166.4425962650978,
292
+ -213.16358408478118,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -0.5235987755982894
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -1163.8445200537444,
305
+ -214.66358408478118,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -0.5235987755982894
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -1161.246443842391,
318
+ -216.16358408478118,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -0.5235987755982894
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -1158.6483676310377,
331
+ -217.66358408478118,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -0.5235987755982894
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -1156.0502914196843,
344
+ -219.16358408478118,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -0.5235987755982894
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -1153.452215208331,
357
+ -220.66358408478118,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": -0.5235987755982894
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -1150.8541389969776,
370
+ -222.16358408478118,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": -0.5235987755982894
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -1148.2560627856242,
383
+ -223.66358408478118,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": -0.5235987755982894
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -1145.6579865742708,
396
+ -225.16358408478118,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": -0.5235987755982894
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -1143.0599103629174,
409
+ -226.66358408478118,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": -0.5235987755982894
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -1140.461834151564,
422
+ -228.16358408478118,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": -0.5235987755982894
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -1137.8637579402107,
435
+ -229.66358408478118,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": -0.5235987755982894
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -1135.2656817288573,
448
+ -231.16358408478118,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": -0.5235987755982894
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -1132.667605517504,
461
+ -232.66358408478118,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": -0.5235987755982894
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -1130.0695293061506,
474
+ -234.16358408478118,
475
+ 30.45824585413169
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": -0.5235987755982894
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -1127.4714530947972,
487
+ -235.66358408478118,
488
+ 30.45824585413169
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": -0.5235987755982894
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ -1124.8733768834438,
500
+ -237.16358408478118,
501
+ 30.45824585413169
502
+ ],
503
+ "type": "go straight",
504
+ "value": 3,
505
+ "yaw": -0.5235987755982894
506
+ }
507
+ }
508
+ {
509
+ "action": {
510
+ "imageid": 39,
511
+ "pos": [
512
+ -1122.2753006720905,
513
+ -238.66358408478118,
514
+ 30.45824585413169
515
+ ],
516
+ "type": "go straight",
517
+ "value": 3,
518
+ "yaw": -0.5235987755982894
519
+ }
520
+ }
521
+ {
522
+ "action": {
523
+ "imageid": 40,
524
+ "pos": [
525
+ -1119.677224460737,
526
+ -240.16358408478118,
527
+ 30.45824585413169
528
+ ],
529
+ "type": "turn right",
530
+ "value": 30,
531
+ "yaw": -0.5235987755982894
532
+ }
533
+ }
534
+ {
535
+ "action": {
536
+ "imageid": 41,
537
+ "pos": [
538
+ -1119.677224460737,
539
+ -240.16358408478118,
540
+ 30.45824585413169
541
+ ],
542
+ "type": "go straight",
543
+ "value": 3,
544
+ "yaw": -1.047197551196588
545
+ }
546
+ }
547
+ {
548
+ "action": {
549
+ "imageid": 42,
550
+ "pos": [
551
+ -1118.177224460737,
552
+ -242.7616602961345,
553
+ 30.45824585413169
554
+ ],
555
+ "type": "go straight",
556
+ "value": 3,
557
+ "yaw": -1.0471975511965979
558
+ }
559
+ }
560
+ {
561
+ "action": {
562
+ "imageid": 43,
563
+ "pos": [
564
+ -1116.677224460737,
565
+ -245.3597365074878,
566
+ 30.45824585413169
567
+ ],
568
+ "type": "go straight",
569
+ "value": 3,
570
+ "yaw": -1.0471975511965979
571
+ }
572
+ }
573
+ {
574
+ "action": {
575
+ "imageid": 44,
576
+ "pos": [
577
+ -1115.177224460737,
578
+ -247.95781271884113,
579
+ 30.45824585413169
580
+ ],
581
+ "type": "go straight",
582
+ "value": 3,
583
+ "yaw": -1.0471975511965979
584
+ }
585
+ }
586
+ {
587
+ "action": {
588
+ "imageid": 45,
589
+ "pos": [
590
+ -1113.677224460737,
591
+ -250.55588893019444,
592
+ 30.45824585413169
593
+ ],
594
+ "type": "go straight",
595
+ "value": 3,
596
+ "yaw": -1.0471975511965979
597
+ }
598
+ }
599
+ {
600
+ "action": {
601
+ "imageid": 46,
602
+ "pos": [
603
+ -1112.177224460737,
604
+ -253.15396514154776,
605
+ 30.45824585413169
606
+ ],
607
+ "type": "go straight",
608
+ "value": 3,
609
+ "yaw": -1.0471975511965979
610
+ }
611
+ }
612
+ {
613
+ "action": {
614
+ "imageid": 47,
615
+ "pos": [
616
+ -1110.677224460737,
617
+ -255.75204135290107,
618
+ 30.45824585413169
619
+ ],
620
+ "type": "stop",
621
+ "value": 0,
622
+ "yaw": -1.0471975511965979
623
+ }
624
+ }
625
+ {
626
+ "aim_landmark": {
627
+ "color": "test",
628
+ "feature": "test",
629
+ "position": [
630
+ -1092.0,
631
+ -264.0,
632
+ 19.309
633
+ ],
634
+ "shape": "test",
635
+ "dir": "left",
636
+ "size": "test",
637
+ "type": "building"
638
+ }
639
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_15-45-31_639806732/pose.jsonl ADDED
@@ -0,0 +1,496 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1253.3169179760562,
6
+ 38.244722621375026,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1250.3169179760562,
19
+ 38.244722621375026,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1247.3169179760562,
32
+ 38.244722621375026,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1244.3169179760562,
45
+ 38.244722621375026,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -1241.3169179760562,
58
+ 38.244722621375026,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -1238.3169179760562,
71
+ 38.244722621375026,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -1235.3169179760562,
84
+ 38.244722621375026,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -1232.3169179760562,
97
+ 38.244722621375026,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -1229.3169179760562,
110
+ 38.244722621375026,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -1226.3169179760562,
123
+ 38.244722621375026,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.0
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -1223.3169179760562,
136
+ 38.244722621375026,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.0
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -1220.3169179760562,
149
+ 38.244722621375026,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.0
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -1217.3169179760562,
162
+ 38.244722621375026,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.0
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -1214.3169179760562,
175
+ 38.244722621375026,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.0
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -1211.3169179760562,
188
+ 38.244722621375026,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.0
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -1208.3169179760562,
201
+ 38.244722621375026,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.0
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -1205.3169179760562,
214
+ 38.244722621375026,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.0
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -1202.3169179760562,
227
+ 38.244722621375026,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.0
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -1199.3169179760562,
240
+ 38.244722621375026,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 0.0
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -1196.3169179760562,
253
+ 38.244722621375026,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 0.0
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -1193.3169179760562,
266
+ 38.244722621375026,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 0.0
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -1190.3169179760562,
279
+ 38.244722621375026,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 0.0
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -1187.3169179760562,
292
+ 38.244722621375026,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 0.0
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -1184.3169179760562,
305
+ 38.244722621375026,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 0.0
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -1181.3169179760562,
318
+ 38.244722621375026,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "turn left",
322
+ "value": 30,
323
+ "yaw": 0.0
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -1181.3169179760562,
331
+ 38.244722621375026,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 0.5235987755982988
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -1178.7188417647028,
344
+ 39.744722621375026,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 0.5235987755982894
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -1176.1207655533494,
357
+ 41.244722621375026,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": 0.5235987755982894
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -1173.522689341996,
370
+ 42.744722621375026,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": 0.5235987755982894
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -1170.9246131306427,
383
+ 44.244722621375026,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": 0.5235987755982894
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -1168.3265369192893,
396
+ 45.744722621375026,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": 0.5235987755982894
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -1165.728460707936,
409
+ 47.244722621375026,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": 0.5235987755982894
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -1163.1303844965826,
422
+ 48.744722621375026,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": 0.5235987755982894
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -1160.5323082852292,
435
+ 50.244722621375026,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": 0.5235987755982894
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -1157.9342320738758,
448
+ 51.744722621375026,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": 0.5235987755982894
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -1155.3361558625224,
461
+ 53.244722621375026,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": 0.5235987755982894
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -1152.738079651169,
474
+ 54.744722621375026,
475
+ 30.45824585413169
476
+ ],
477
+ "type": "stop",
478
+ "value": 0,
479
+ "yaw": 0.5235987755982894
480
+ }
481
+ }
482
+ {
483
+ "aim_landmark": {
484
+ "color": "test",
485
+ "feature": "test",
486
+ "position": [
487
+ -1144.0,
488
+ 56.0,
489
+ 16.3078
490
+ ],
491
+ "shape": "test",
492
+ "dir": "center",
493
+ "size": "test",
494
+ "type": "building"
495
+ }
496
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_15-45-6_1615935710/pose.jsonl ADDED
@@ -0,0 +1,574 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1034.2446883683713,
6
+ -219.90187519009734,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1032.7446883683713,
19
+ -217.30379897874403,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1031.2446883683713,
32
+ -214.7057227673907,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1029.7446883683713,
45
+ -212.1076465560374,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -1028.2446883683713,
58
+ -209.50957034468408,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -1026.7446883683713,
71
+ -206.91149413333076,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -1025.2446883683713,
84
+ -204.31341792197745,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -1023.7446883683713,
97
+ -201.71534171062413,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -1022.2446883683713,
110
+ -199.11726549927081,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -1020.7446883683713,
123
+ -196.5191892879175,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "turn left",
127
+ "value": 30,
128
+ "yaw": 1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -1020.7446883683713,
136
+ -196.5191892879175,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -1020.7446883683713,
149
+ -193.5191892879175,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -1020.7446883683713,
162
+ -190.5191892879175,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -1020.7446883683713,
175
+ -187.5191892879175,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -1020.7446883683713,
188
+ -184.5191892879175,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -1020.7446883683713,
201
+ -181.5191892879175,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -1020.7446883683713,
214
+ -178.5191892879175,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -1020.7446883683713,
227
+ -175.5191892879175,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -1020.7446883683713,
240
+ -172.5191892879175,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -1020.7446883683713,
253
+ -169.5191892879175,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -1020.7446883683713,
266
+ -166.5191892879175,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -1020.7446883683713,
279
+ -163.5191892879175,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -1020.7446883683713,
292
+ -160.5191892879175,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -1020.7446883683713,
305
+ -157.5191892879175,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -1020.7446883683713,
318
+ -154.5191892879175,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 1.5707963267948966
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -1020.7446883683713,
331
+ -151.5191892879175,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 1.5707963267948966
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -1020.7446883683713,
344
+ -148.5191892879175,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 1.5707963267948966
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -1020.7446883683713,
357
+ -145.5191892879175,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": 1.5707963267948966
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -1020.7446883683713,
370
+ -142.5191892879175,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": 1.5707963267948966
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -1020.7446883683713,
383
+ -139.5191892879175,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": 1.5707963267948966
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -1020.7446883683713,
396
+ -136.5191892879175,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": 1.5707963267948966
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -1020.7446883683713,
409
+ -133.5191892879175,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": 1.5707963267948966
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -1020.7446883683713,
422
+ -130.5191892879175,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": 1.5707963267948966
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -1020.7446883683713,
435
+ -127.5191892879175,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": 1.5707963267948966
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -1020.7446883683713,
448
+ -124.5191892879175,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": 1.5707963267948966
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -1020.7446883683713,
461
+ -121.5191892879175,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": 1.5707963267948966
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -1020.7446883683713,
474
+ -118.5191892879175,
475
+ 30.45824585413169
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": 1.5707963267948966
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -1020.7446883683713,
487
+ -115.5191892879175,
488
+ 30.45824585413169
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": 1.5707963267948966
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ -1020.7446883683713,
500
+ -112.5191892879175,
501
+ 30.45824585413169
502
+ ],
503
+ "type": "turn left",
504
+ "value": 30,
505
+ "yaw": 1.5707963267948966
506
+ }
507
+ }
508
+ {
509
+ "action": {
510
+ "imageid": 39,
511
+ "pos": [
512
+ -1020.7446883683713,
513
+ -112.5191892879175,
514
+ 30.45824585413169
515
+ ],
516
+ "type": "go straight",
517
+ "value": 3,
518
+ "yaw": 2.0943951023931953
519
+ }
520
+ }
521
+ {
522
+ "action": {
523
+ "imageid": 40,
524
+ "pos": [
525
+ -1022.2446883683713,
526
+ -109.92111307656418,
527
+ 30.45824585413169
528
+ ],
529
+ "type": "go straight",
530
+ "value": 3,
531
+ "yaw": 2.0943951023931953
532
+ }
533
+ }
534
+ {
535
+ "action": {
536
+ "imageid": 41,
537
+ "pos": [
538
+ -1023.7446883683713,
539
+ -107.32303686521087,
540
+ 30.45824585413169
541
+ ],
542
+ "type": "go straight",
543
+ "value": 3,
544
+ "yaw": 2.0943951023931953
545
+ }
546
+ }
547
+ {
548
+ "action": {
549
+ "imageid": 42,
550
+ "pos": [
551
+ -1025.2446883683713,
552
+ -104.72496065385755,
553
+ 30.45824585413169
554
+ ],
555
+ "type": "stop",
556
+ "value": 0,
557
+ "yaw": 2.0943951023931953
558
+ }
559
+ }
560
+ {
561
+ "aim_landmark": {
562
+ "color": "test",
563
+ "feature": "test",
564
+ "position": [
565
+ -1024.0,
566
+ -80.0,
567
+ 17.816
568
+ ],
569
+ "shape": "test",
570
+ "dir": "right",
571
+ "size": "test",
572
+ "type": "building"
573
+ }
574
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_15-8-21_1190668363/pose.jsonl ADDED
@@ -0,0 +1,639 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1159.8624935225514,
6
+ 172.51658672627627,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1158.3624935225514,
19
+ 169.91851051492296,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1156.8624935225514,
32
+ 167.32043430356964,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1155.3624935225514,
45
+ 164.72235809221633,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -1153.8624935225514,
58
+ 162.124281880863,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -1152.3624935225514,
71
+ 159.5262056695097,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -1150.8624935225514,
84
+ 156.92812945815638,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -1149.3624935225514,
97
+ 154.33005324680306,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -1147.8624935225514,
110
+ 151.73197703544975,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -1146.3624935225514,
123
+ 149.13390082409643,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -1144.8624935225514,
136
+ 146.5358246127431,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -1143.3624935225514,
149
+ 143.9377484013898,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -1141.8624935225514,
162
+ 141.33967219003648,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -1140.3624935225514,
175
+ 138.74159597868316,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -1138.8624935225514,
188
+ 136.14351976732985,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -1137.3624935225514,
201
+ 133.54544355597653,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -1135.8624935225514,
214
+ 130.94736734462322,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -1134.3624935225514,
227
+ 128.3492911332699,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -1132.8624935225514,
240
+ 125.75121492191658,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.0471975511965979
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -1131.3624935225514,
253
+ 123.15313871056327,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.0471975511965979
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -1129.8624935225514,
266
+ 120.55506249920995,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.0471975511965979
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -1128.3624935225514,
279
+ 117.95698628785664,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.0471975511965979
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -1126.8624935225514,
292
+ 115.35891007650332,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.0471975511965979
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -1125.3624935225514,
305
+ 112.76083386515,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -1.0471975511965979
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -1123.8624935225514,
318
+ 110.16275765379669,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -1.0471975511965979
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -1122.3624935225514,
331
+ 107.56468144244337,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "turn right",
335
+ "value": 30,
336
+ "yaw": -1.0471975511965979
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -1122.3624935225514,
344
+ 107.56468144244337,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -1.5707963267948966
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -1122.3624935225514,
357
+ 104.56468144244337,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": -1.5707963267948966
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -1122.3624935225514,
370
+ 101.56468144244337,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": -1.5707963267948966
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -1122.3624935225514,
383
+ 98.56468144244337,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": -1.5707963267948966
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -1122.3624935225514,
396
+ 95.56468144244337,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": -1.5707963267948966
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -1122.3624935225514,
409
+ 92.56468144244337,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": -1.5707963267948966
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -1122.3624935225514,
422
+ 89.56468144244337,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": -1.5707963267948966
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -1122.3624935225514,
435
+ 86.56468144244337,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": -1.5707963267948966
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -1122.3624935225514,
448
+ 83.56468144244337,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": -1.5707963267948966
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -1122.3624935225514,
461
+ 80.56468144244337,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": -1.5707963267948966
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -1122.3624935225514,
474
+ 77.56468144244337,
475
+ 30.45824585413169
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": -1.5707963267948966
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -1122.3624935225514,
487
+ 74.56468144244337,
488
+ 30.45824585413169
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": -1.5707963267948966
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ -1122.3624935225514,
500
+ 71.56468144244337,
501
+ 30.45824585413169
502
+ ],
503
+ "type": "go straight",
504
+ "value": 3,
505
+ "yaw": -1.5707963267948966
506
+ }
507
+ }
508
+ {
509
+ "action": {
510
+ "imageid": 39,
511
+ "pos": [
512
+ -1122.3624935225514,
513
+ 68.56468144244337,
514
+ 30.45824585413169
515
+ ],
516
+ "type": "go straight",
517
+ "value": 3,
518
+ "yaw": -1.5707963267948966
519
+ }
520
+ }
521
+ {
522
+ "action": {
523
+ "imageid": 40,
524
+ "pos": [
525
+ -1122.3624935225514,
526
+ 65.56468144244337,
527
+ 30.45824585413169
528
+ ],
529
+ "type": "go straight",
530
+ "value": 3,
531
+ "yaw": -1.5707963267948966
532
+ }
533
+ }
534
+ {
535
+ "action": {
536
+ "imageid": 41,
537
+ "pos": [
538
+ -1122.3624935225514,
539
+ 62.56468144244337,
540
+ 30.45824585413169
541
+ ],
542
+ "type": "go straight",
543
+ "value": 3,
544
+ "yaw": -1.5707963267948966
545
+ }
546
+ }
547
+ {
548
+ "action": {
549
+ "imageid": 42,
550
+ "pos": [
551
+ -1122.3624935225514,
552
+ 59.56468144244337,
553
+ 30.45824585413169
554
+ ],
555
+ "type": "go straight",
556
+ "value": 3,
557
+ "yaw": -1.5707963267948966
558
+ }
559
+ }
560
+ {
561
+ "action": {
562
+ "imageid": 43,
563
+ "pos": [
564
+ -1122.3624935225514,
565
+ 56.56468144244337,
566
+ 30.45824585413169
567
+ ],
568
+ "type": "go straight",
569
+ "value": 3,
570
+ "yaw": -1.5707963267948966
571
+ }
572
+ }
573
+ {
574
+ "action": {
575
+ "imageid": 44,
576
+ "pos": [
577
+ -1122.3624935225514,
578
+ 53.56468144244337,
579
+ 30.45824585413169
580
+ ],
581
+ "type": "go straight",
582
+ "value": 3,
583
+ "yaw": -1.5707963267948966
584
+ }
585
+ }
586
+ {
587
+ "action": {
588
+ "imageid": 45,
589
+ "pos": [
590
+ -1122.3624935225514,
591
+ 50.56468144244337,
592
+ 30.45824585413169
593
+ ],
594
+ "type": "go straight",
595
+ "value": 3,
596
+ "yaw": -1.5707963267948966
597
+ }
598
+ }
599
+ {
600
+ "action": {
601
+ "imageid": 46,
602
+ "pos": [
603
+ -1122.3624935225514,
604
+ 47.56468144244337,
605
+ 30.45824585413169
606
+ ],
607
+ "type": "go straight",
608
+ "value": 3,
609
+ "yaw": -1.5707963267948966
610
+ }
611
+ }
612
+ {
613
+ "action": {
614
+ "imageid": 47,
615
+ "pos": [
616
+ -1122.3624935225514,
617
+ 44.56468144244337,
618
+ 30.45824585413169
619
+ ],
620
+ "type": "stop",
621
+ "value": 0,
622
+ "yaw": -1.5707963267948966
623
+ }
624
+ }
625
+ {
626
+ "aim_landmark": {
627
+ "color": "test",
628
+ "feature": "test",
629
+ "position": [
630
+ -1120.0,
631
+ 36.0,
632
+ 19.309
633
+ ],
634
+ "shape": "test",
635
+ "dir": "center",
636
+ "size": "test",
637
+ "type": "building"
638
+ }
639
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_15-9-48_773319847/pose.jsonl ADDED
@@ -0,0 +1,470 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -782.0386699527121,
6
+ -26.72419840055217,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -783.5386699527121,
19
+ -29.322274611905485,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -785.0386699527121,
32
+ -31.9203508232588,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -786.5386699527121,
45
+ -34.51842703461212,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -788.0386699527121,
58
+ -37.11650324596543,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -789.5386699527121,
71
+ -39.71457945731875,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -791.0386699527121,
84
+ -42.312655668672065,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -792.5386699527121,
97
+ -44.91073188002538,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -794.0386699527121,
110
+ -47.5088080913787,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -795.5386699527121,
123
+ -50.10688430273201,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -797.0386699527121,
136
+ -52.70496051408533,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -798.5386699527121,
149
+ -55.303036725438645,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -800.0386699527121,
162
+ -57.90111293679196,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -801.5386699527121,
175
+ -60.49918914814528,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -803.0386699527121,
188
+ -63.09726535949859,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -804.5386699527121,
201
+ -65.69534157085191,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -806.0386699527121,
214
+ -68.29341778220522,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -807.5386699527121,
227
+ -70.89149399355854,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -809.0386699527121,
240
+ -73.48957020491186,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "turn left",
244
+ "value": 30,
245
+ "yaw": -2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -809.0386699527121,
253
+ -73.48957020491186,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -809.0386699527121,
266
+ -76.48957020491186,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -809.0386699527121,
279
+ -79.48957020491186,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -809.0386699527121,
292
+ -82.48957020491186,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -809.0386699527121,
305
+ -85.48957020491186,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -809.0386699527121,
318
+ -88.48957020491186,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -1.5707963267948966
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -809.0386699527121,
331
+ -91.48957020491186,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -1.5707963267948966
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -809.0386699527121,
344
+ -94.48957020491186,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -1.5707963267948966
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -809.0386699527121,
357
+ -97.48957020491186,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": -1.5707963267948966
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -809.0386699527121,
370
+ -100.48957020491186,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": -1.5707963267948966
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -809.0386699527121,
383
+ -103.48957020491186,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": -1.5707963267948966
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -809.0386699527121,
396
+ -106.48957020491186,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": -1.5707963267948966
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -809.0386699527121,
409
+ -109.48957020491186,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": -1.5707963267948966
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -809.0386699527121,
422
+ -112.48957020491186,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": -1.5707963267948966
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -809.0386699527121,
435
+ -115.48957020491186,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": -1.5707963267948966
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -809.0386699527121,
448
+ -118.48957020491186,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "stop",
452
+ "value": 0,
453
+ "yaw": -1.5707963267948966
454
+ }
455
+ }
456
+ {
457
+ "aim_landmark": {
458
+ "color": "test",
459
+ "feature": "test",
460
+ "position": [
461
+ -812.0,
462
+ -128.0,
463
+ 19.3077
464
+ ],
465
+ "shape": "test",
466
+ "dir": "center",
467
+ "size": "test",
468
+ "type": "building"
469
+ }
470
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_16-31-43_1891252715/pose.jsonl ADDED
@@ -0,0 +1,444 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -952.6481542190722,
6
+ -282.2200185791315,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -954.1481542190722,
19
+ -279.62194236777816,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -955.6481542190722,
32
+ -277.02386615642484,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -957.1481542190722,
45
+ -274.42578994507153,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -958.6481542190722,
58
+ -271.8277137337182,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -960.1481542190722,
71
+ -269.2296375223649,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -961.6481542190722,
84
+ -266.6315613110116,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -963.1481542190722,
97
+ -264.03348509965826,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -964.6481542190722,
110
+ -261.43540888830495,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -966.1481542190722,
123
+ -258.83733267695163,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -967.6481542190722,
136
+ -256.2392564655983,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -969.1481542190722,
149
+ -253.641180254245,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "turn right",
153
+ "value": 30,
154
+ "yaw": 2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -969.1481542190722,
162
+ -253.641180254245,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -969.1481542190722,
175
+ -250.641180254245,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -969.1481542190722,
188
+ -247.641180254245,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -969.1481542190722,
201
+ -244.641180254245,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -969.1481542190722,
214
+ -241.641180254245,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -969.1481542190722,
227
+ -238.641180254245,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -969.1481542190722,
240
+ -235.641180254245,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -969.1481542190722,
253
+ -232.641180254245,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -969.1481542190722,
266
+ -229.641180254245,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "turn left",
270
+ "value": 30,
271
+ "yaw": 1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -969.1481542190722,
279
+ -229.641180254245,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 2.0943951023931953
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -970.6481542190722,
292
+ -227.04310404289168,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 2.0943951023931953
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -972.1481542190722,
305
+ -224.44502783153837,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 2.0943951023931953
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -973.6481542190722,
318
+ -221.84695162018505,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 2.0943951023931953
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -975.1481542190722,
331
+ -219.24887540883174,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 2.0943951023931953
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -976.6481542190722,
344
+ -216.65079919747842,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "turn left",
348
+ "value": 30,
349
+ "yaw": 2.0943951023931953
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -976.6481542190722,
357
+ -216.65079919747842,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": 2.617993877991494
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -979.2462304304256,
370
+ -215.15079919747842,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": 2.6179938779915037
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -981.844306641779,
383
+ -213.65079919747842,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": 2.6179938779915037
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -984.4423828531324,
396
+ -212.15079919747842,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": 2.6179938779915037
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -987.0404590644857,
409
+ -210.65079919747842,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": 2.6179938779915037
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -989.6385352758391,
422
+ -209.15079919747842,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "stop",
426
+ "value": 0,
427
+ "yaw": 2.6179938779915037
428
+ }
429
+ }
430
+ {
431
+ "aim_landmark": {
432
+ "color": "test",
433
+ "feature": "test",
434
+ "position": [
435
+ -1000.0,
436
+ -192.0,
437
+ 20.0295
438
+ ],
439
+ "shape": "test",
440
+ "dir": "right",
441
+ "size": "test",
442
+ "type": "building"
443
+ }
444
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_16-42-22_1131884850/pose.jsonl ADDED
@@ -0,0 +1,54 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 130.85049495330367,
6
+ -600.1762447372347,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 133.85049495330367,
19
+ -600.1762447372347,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 136.85049495330367,
32
+ -600.1762447372347,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "stop",
36
+ "value": 0,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "aim_landmark": {
42
+ "color": "test",
43
+ "feature": "test",
44
+ "position": [
45
+ 244.0,
46
+ -620.0,
47
+ 33.8289
48
+ ],
49
+ "shape": "test",
50
+ "dir": "center",
51
+ "size": "test",
52
+ "type": "building"
53
+ }
54
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_16-45-40_1766146081/pose.jsonl ADDED
@@ -0,0 +1,626 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -203.99734620904258,
6
+ -265.95665654657455,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -202.49734620904258,
19
+ -268.55473275792787,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -200.99734620904258,
32
+ -271.1528089692812,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -199.49734620904258,
45
+ -273.7508851806345,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -197.99734620904258,
58
+ -276.3489613919878,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -196.49734620904258,
71
+ -278.94703760334113,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -194.99734620904258,
84
+ -281.54511381469445,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -193.49734620904258,
97
+ -284.14319002604776,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -191.99734620904258,
110
+ -286.7412662374011,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -190.49734620904258,
123
+ -289.3393424487544,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -188.99734620904258,
136
+ -291.9374186601077,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -187.49734620904258,
149
+ -294.535494871461,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -185.99734620904258,
162
+ -297.13357108281434,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -184.49734620904258,
175
+ -299.73164729416766,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -182.99734620904258,
188
+ -302.329723505521,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -181.49734620904258,
201
+ -304.9277997168743,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -179.99734620904258,
214
+ -307.5258759282276,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -178.49734620904258,
227
+ -310.1239521395809,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -176.99734620904258,
240
+ -312.72202835093424,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.0471975511965979
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -175.49734620904258,
253
+ -315.32010456228755,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.0471975511965979
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -173.99734620904258,
266
+ -317.91818077364087,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.0471975511965979
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -172.49734620904258,
279
+ -320.5162569849942,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.0471975511965979
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -170.99734620904258,
292
+ -323.1143331963475,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.0471975511965979
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -169.49734620904258,
305
+ -325.7124094077008,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -1.0471975511965979
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -167.99734620904258,
318
+ -328.31048561905413,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -1.0471975511965979
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -166.49734620904258,
331
+ -330.90856183040745,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -1.0471975511965979
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -164.99734620904258,
344
+ -333.50663804176077,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -1.0471975511965979
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -163.49734620904258,
357
+ -336.1047142531141,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": -1.0471975511965979
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -161.99734620904258,
370
+ -338.7027904644674,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": -1.0471975511965979
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -160.49734620904258,
383
+ -341.3008666758207,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": -1.0471975511965979
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -158.99734620904258,
396
+ -343.89894288717403,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": -1.0471975511965979
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -157.49734620904258,
409
+ -346.49701909852735,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": -1.0471975511965979
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -155.99734620904258,
422
+ -349.09509530988066,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": -1.0471975511965979
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -154.49734620904258,
435
+ -351.693171521234,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": -1.0471975511965979
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -152.99734620904258,
448
+ -354.2912477325873,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": -1.0471975511965979
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -151.49734620904258,
461
+ -356.8893239439406,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": -1.0471975511965979
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -149.99734620904258,
474
+ -359.4874001552939,
475
+ 30.45824585413169
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": -1.0471975511965979
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -148.49734620904258,
487
+ -362.08547636664724,
488
+ 30.45824585413169
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": -1.0471975511965979
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ -146.99734620904258,
500
+ -364.68355257800056,
501
+ 30.45824585413169
502
+ ],
503
+ "type": "go straight",
504
+ "value": 3,
505
+ "yaw": -1.0471975511965979
506
+ }
507
+ }
508
+ {
509
+ "action": {
510
+ "imageid": 39,
511
+ "pos": [
512
+ -145.49734620904258,
513
+ -367.2816287893539,
514
+ 30.45824585413169
515
+ ],
516
+ "type": "turn left",
517
+ "value": 30,
518
+ "yaw": -1.0471975511965979
519
+ }
520
+ }
521
+ {
522
+ "action": {
523
+ "imageid": 40,
524
+ "pos": [
525
+ -145.49734620904258,
526
+ -367.2816287893539,
527
+ 30.45824585413169
528
+ ],
529
+ "type": "go straight",
530
+ "value": 3,
531
+ "yaw": -0.523598775598299
532
+ }
533
+ }
534
+ {
535
+ "action": {
536
+ "imageid": 41,
537
+ "pos": [
538
+ -142.89926999768926,
539
+ -368.7816287893539,
540
+ 30.45824585413169
541
+ ],
542
+ "type": "go straight",
543
+ "value": 3,
544
+ "yaw": -0.5235987755982988
545
+ }
546
+ }
547
+ {
548
+ "action": {
549
+ "imageid": 42,
550
+ "pos": [
551
+ -140.30119378633594,
552
+ -370.2816287893539,
553
+ 30.45824585413169
554
+ ],
555
+ "type": "go straight",
556
+ "value": 3,
557
+ "yaw": -0.5235987755982988
558
+ }
559
+ }
560
+ {
561
+ "action": {
562
+ "imageid": 43,
563
+ "pos": [
564
+ -137.70311757498263,
565
+ -371.7816287893539,
566
+ 30.45824585413169
567
+ ],
568
+ "type": "go straight",
569
+ "value": 3,
570
+ "yaw": -0.5235987755982988
571
+ }
572
+ }
573
+ {
574
+ "action": {
575
+ "imageid": 44,
576
+ "pos": [
577
+ -135.1050413636293,
578
+ -373.2816287893539,
579
+ 30.45824585413169
580
+ ],
581
+ "type": "go straight",
582
+ "value": 3,
583
+ "yaw": -0.5235987755982988
584
+ }
585
+ }
586
+ {
587
+ "action": {
588
+ "imageid": 45,
589
+ "pos": [
590
+ -132.506965152276,
591
+ -374.7816287893539,
592
+ 30.45824585413169
593
+ ],
594
+ "type": "go straight",
595
+ "value": 3,
596
+ "yaw": -0.5235987755982988
597
+ }
598
+ }
599
+ {
600
+ "action": {
601
+ "imageid": 46,
602
+ "pos": [
603
+ -129.90888894092268,
604
+ -376.2816287893539,
605
+ 30.45824585413169
606
+ ],
607
+ "type": "stop",
608
+ "value": 0,
609
+ "yaw": -0.5235987755982988
610
+ }
611
+ }
612
+ {
613
+ "aim_landmark": {
614
+ "color": "test",
615
+ "feature": "test",
616
+ "position": [
617
+ -124.0,
618
+ -388.0,
619
+ 35.7581
620
+ ],
621
+ "shape": "test",
622
+ "dir": "right",
623
+ "size": "test",
624
+ "type": "building"
625
+ }
626
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_16-46-20_1979015720/pose.jsonl ADDED
@@ -0,0 +1,535 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1011.6754706286426,
6
+ -520.3704968173784,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.094395102393186
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1013.1754706286426,
19
+ -517.772420606025,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.094395102393186
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1014.6754706286426,
32
+ -515.1743443946716,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.094395102393186
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1016.1754706286426,
45
+ -512.5762681833182,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.094395102393186
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -1017.6754706286426,
58
+ -509.9781919719649,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -1019.1754706286426,
71
+ -507.3801157606116,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -1020.6754706286426,
84
+ -504.7820395492583,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -1022.1754706286426,
97
+ -502.18396333790497,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -1023.6754706286426,
110
+ -499.58588712655165,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -1025.1754706286426,
123
+ -496.98781091519834,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -1026.6754706286426,
136
+ -494.389734703845,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -1028.1754706286426,
149
+ -491.7916584924917,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -1029.6754706286426,
162
+ -489.1935822811384,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -1031.1754706286426,
175
+ -486.5955060697851,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -1032.6754706286426,
188
+ -483.99742985843176,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -1034.1754706286426,
201
+ -481.39935364707844,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -1035.6754706286426,
214
+ -478.8012774357251,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -1037.1754706286426,
227
+ -476.2032012243718,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -1038.6754706286426,
240
+ -473.6051250130185,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -1040.1754706286426,
253
+ -471.0070488016652,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -1041.6754706286426,
266
+ -468.40897259031186,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -1043.1754706286426,
279
+ -465.81089637895855,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 2.0943951023931953
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -1044.6754706286426,
292
+ -463.21282016760523,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 2.0943951023931953
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -1046.1754706286426,
305
+ -460.6147439562519,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "turn left",
309
+ "value": 30,
310
+ "yaw": 2.0943951023931953
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -1046.1754706286426,
318
+ -460.6147439562519,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 2.617993877991494
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -1048.773546839996,
331
+ -459.1147439562519,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 2.6179938779915037
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -1051.3716230513494,
344
+ -457.6147439562519,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 2.6179938779915037
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -1053.9696992627028,
357
+ -456.1147439562519,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": 2.6179938779915037
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -1056.5677754740561,
370
+ -454.6147439562519,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": 2.6179938779915037
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -1059.1658516854095,
383
+ -453.1147439562519,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": 2.6179938779915037
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -1061.7639278967629,
396
+ -451.6147439562519,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": 2.6179938779915037
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -1064.3620041081163,
409
+ -450.1147439562519,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": 2.6179938779915037
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -1066.9600803194696,
422
+ -448.6147439562519,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": 2.6179938779915037
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -1069.558156530823,
435
+ -447.1147439562519,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": 2.6179938779915037
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -1072.1562327421764,
448
+ -445.6147439562519,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": 2.6179938779915037
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -1074.7543089535297,
461
+ -444.1147439562519,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": 2.6179938779915037
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -1077.3523851648831,
474
+ -442.6147439562519,
475
+ 30.45824585413169
476
+ ],
477
+ "type": "turn left",
478
+ "value": 30,
479
+ "yaw": 2.6179938779915037
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -1077.3523851648831,
487
+ -442.6147439562519,
488
+ 30.45824585413169
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": 3.1415926535898024
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ -1080.3523851648831,
500
+ -442.6147439562519,
501
+ 30.45824585413169
502
+ ],
503
+ "type": "go straight",
504
+ "value": 3,
505
+ "yaw": 3.141592653589793
506
+ }
507
+ }
508
+ {
509
+ "action": {
510
+ "imageid": 39,
511
+ "pos": [
512
+ -1083.3523851648831,
513
+ -442.6147439562519,
514
+ 30.45824585413169
515
+ ],
516
+ "type": "stop",
517
+ "value": 0,
518
+ "yaw": 3.141592653589793
519
+ }
520
+ }
521
+ {
522
+ "aim_landmark": {
523
+ "color": "test",
524
+ "feature": "test",
525
+ "position": [
526
+ -1096.0,
527
+ -432.0,
528
+ 19.0225
529
+ ],
530
+ "shape": "test",
531
+ "dir": "right",
532
+ "size": "test",
533
+ "type": "building"
534
+ }
535
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_16-54-18_420687483/pose.jsonl ADDED
@@ -0,0 +1,561 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -79.45932352408384,
6
+ 60.47366523021928,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -0.5235987755982988
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -76.86124731273053,
19
+ 58.97366523021928,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "turn right",
23
+ "value": 30,
24
+ "yaw": -0.5235987755982988
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -76.86124731273053,
32
+ 58.97366523021928,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511965976
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -75.36124731273053,
45
+ 56.375589018865966,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -73.86124731273053,
58
+ 53.77751280751265,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -72.36124731273053,
71
+ 51.179436596159334,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -70.86124731273053,
84
+ 48.58136038480602,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -69.36124731273053,
97
+ 45.9832841734527,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -67.86124731273053,
110
+ 43.385207962099386,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -66.36124731273053,
123
+ 40.78713175074607,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -64.86124731273053,
136
+ 38.189055539392754,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "turn left",
140
+ "value": 30,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -64.86124731273053,
149
+ 38.189055539392754,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -0.523598775598299
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -62.26317110137721,
162
+ 36.689055539392754,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -0.5235987755982988
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -59.665094890023894,
175
+ 35.189055539392754,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -0.5235987755982988
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -57.06701867867058,
188
+ 33.689055539392754,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -0.5235987755982988
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -54.46894246731726,
201
+ 32.189055539392754,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -0.5235987755982988
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -51.870866255963946,
214
+ 30.689055539392754,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -0.5235987755982988
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -49.27279004461063,
227
+ 29.189055539392754,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -46.674713833257314,
240
+ 27.689055539392754,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -0.5235987755982988
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -44.076637621904,
253
+ 26.189055539392754,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -0.5235987755982988
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -41.47856141055068,
266
+ 24.689055539392754,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -0.5235987755982988
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -38.880485199197366,
279
+ 23.189055539392754,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -0.5235987755982988
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -36.28240898784405,
292
+ 21.689055539392754,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -0.5235987755982988
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -33.684332776490734,
305
+ 20.189055539392754,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -0.5235987755982988
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -31.08625656513742,
318
+ 18.689055539392754,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -0.5235987755982988
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -28.488180353784102,
331
+ 17.189055539392754,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -0.5235987755982988
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -25.890104142430786,
344
+ 15.689055539392754,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -0.5235987755982988
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -23.29202793107747,
357
+ 14.189055539392754,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": -0.5235987755982988
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -20.693951719724154,
370
+ 12.689055539392754,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": -0.5235987755982988
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -18.09587550837084,
383
+ 11.189055539392754,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": -0.5235987755982988
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -15.497799297017522,
396
+ 9.689055539392754,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": -0.5235987755982988
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -12.899723085664206,
409
+ 8.189055539392754,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": -0.5235987755982988
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -10.30164687431089,
422
+ 6.689055539392754,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": -0.5235987755982988
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -7.703570662957574,
435
+ 5.189055539392754,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": -0.5235987755982988
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -5.105494451604258,
448
+ 3.689055539392754,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": -0.5235987755982988
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -2.507418240250942,
461
+ 2.189055539392754,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": -0.5235987755982988
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ 0.09065797110237384,
474
+ 0.6890555393927544,
475
+ 30.45824585413169
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": -0.5235987755982988
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ 2.68873418245569,
487
+ -0.8109444606072453,
488
+ 30.45824585413169
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": -0.5235987755982988
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ 5.286810393809006,
500
+ -2.310944460607245,
501
+ 30.45824585413169
502
+ ],
503
+ "type": "go straight",
504
+ "value": 3,
505
+ "yaw": -0.5235987755982987
506
+ }
507
+ }
508
+ {
509
+ "action": {
510
+ "imageid": 39,
511
+ "pos": [
512
+ 7.884886605162322,
513
+ -3.810944460607245,
514
+ 30.45824585413169
515
+ ],
516
+ "type": "go straight",
517
+ "value": 3,
518
+ "yaw": -0.5235987755982988
519
+ }
520
+ }
521
+ {
522
+ "action": {
523
+ "imageid": 40,
524
+ "pos": [
525
+ 10.482962816515638,
526
+ -5.310944460607245,
527
+ 30.45824585413169
528
+ ],
529
+ "type": "go straight",
530
+ "value": 3,
531
+ "yaw": -0.5235987755982988
532
+ }
533
+ }
534
+ {
535
+ "action": {
536
+ "imageid": 41,
537
+ "pos": [
538
+ 13.081039027868954,
539
+ -6.810944460607245,
540
+ 30.45824585413169
541
+ ],
542
+ "type": "stop",
543
+ "value": 0,
544
+ "yaw": -0.5235987755982988
545
+ }
546
+ }
547
+ {
548
+ "aim_landmark": {
549
+ "color": "test",
550
+ "feature": "test",
551
+ "position": [
552
+ 40.0,
553
+ -24.0,
554
+ 24.725
555
+ ],
556
+ "shape": "test",
557
+ "dir": "center",
558
+ "size": "test",
559
+ "type": "building"
560
+ }
561
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_16-59-4_428903682/pose.jsonl ADDED
@@ -0,0 +1,470 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 370.91005697285664,
6
+ -54.043724095640925,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.6179938779914944
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 368.3119807615033,
19
+ -55.543724095640925,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.6179938779914944
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 365.71390455015,
32
+ -57.043724095640925,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.6179938779914944
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 363.1158283387967,
45
+ -58.543724095640925,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.6179938779914944
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 360.5177521274434,
58
+ -60.043724095640925,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.6179938779914944
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 357.91967591609006,
71
+ -61.543724095640925,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.6179938779914944
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 355.32159970473674,
84
+ -63.043724095640925,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.6179938779914944
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 352.7235234933834,
97
+ -64.54372409564093,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.6179938779914944
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 350.1254472820301,
110
+ -66.04372409564093,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.6179938779914944
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 347.5273710706768,
123
+ -67.54372409564093,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.6179938779914944
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 344.9292948593235,
136
+ -69.04372409564093,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.6179938779914944
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 342.33121864797016,
149
+ -70.54372409564093,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.6179938779914944
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 339.73314243661684,
162
+ -72.04372409564093,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.6179938779914944
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 337.13506622526353,
175
+ -73.54372409564093,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.6179938779914944
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 334.5369900139102,
188
+ -75.04372409564093,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.6179938779914944
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 331.9389138025569,
201
+ -76.54372409564093,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.6179938779914944
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 329.3408375912036,
214
+ -78.04372409564093,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.6179938779914944
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 326.74276137985026,
227
+ -79.54372409564093,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.6179938779914944
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 324.14468516849695,
240
+ -81.04372409564093,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.6179938779914944
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 321.54660895714363,
253
+ -82.54372409564093,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.6179938779914944
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 318.9485327457903,
266
+ -84.04372409564093,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.6179938779914944
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 316.350456534437,
279
+ -85.54372409564093,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -2.6179938779914944
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 313.7523803230837,
292
+ -87.04372409564093,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -2.6179938779914944
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 311.15430411173037,
305
+ -88.54372409564093,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -2.6179938779914944
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 308.55622790037705,
318
+ -90.04372409564093,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -2.6179938779914944
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 305.95815168902374,
331
+ -91.54372409564093,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -2.6179938779914944
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 303.3600754776704,
344
+ -93.04372409564093,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -2.6179938779914944
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ 300.7619992663171,
357
+ -94.54372409564093,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": -2.6179938779914944
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ 298.1639230549638,
370
+ -96.04372409564093,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": -2.6179938779914944
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ 295.5658468436105,
383
+ -97.54372409564093,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": -2.6179938779914944
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ 292.96777063225716,
396
+ -99.04372409564093,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": -2.6179938779914944
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ 290.36969442090384,
409
+ -100.54372409564093,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": -2.6179938779914944
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ 287.7716182095505,
422
+ -102.04372409564093,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "turn left",
426
+ "value": 30,
427
+ "yaw": -2.6179938779914944
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ 287.7716182095505,
435
+ -102.04372409564093,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": -2.0943951023931957
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ 286.2716182095505,
448
+ -104.64180030699424,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "stop",
452
+ "value": 0,
453
+ "yaw": -2.0943951023931957
454
+ }
455
+ }
456
+ {
457
+ "aim_landmark": {
458
+ "color": "test",
459
+ "feature": "test",
460
+ "position": [
461
+ 272.0,
462
+ -116.0,
463
+ 15.6311
464
+ ],
465
+ "shape": "test",
466
+ "dir": "center",
467
+ "size": "test",
468
+ "type": "building"
469
+ }
470
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_17-13-35_846621269/pose.jsonl ADDED
@@ -0,0 +1,457 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -213.8431271343486,
6
+ -288.65674270894,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.5235987755982988
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -211.2450509229953,
19
+ -287.15674270894,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.5235987755982988
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -208.64697471164197,
32
+ -285.65674270894,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.5235987755982988
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -206.04889850028866,
45
+ -284.15674270894,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.5235987755982988
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -203.45082228893534,
58
+ -282.65674270894,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.5235987755982988
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -200.85274607758203,
71
+ -281.15674270894,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.5235987755982988
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -198.2546698662287,
84
+ -279.65674270894,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.5235987755982988
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -195.6565936548754,
97
+ -278.15674270894,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.5235987755982988
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -193.05851744352208,
110
+ -276.65674270894,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.5235987755982988
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -190.46044123216876,
123
+ -275.15674270894,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.5235987755982988
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -187.86236502081545,
136
+ -273.65674270894,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.5235987755982988
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -185.26428880946213,
149
+ -272.15674270894,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.5235987755982988
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -182.6662125981088,
162
+ -270.65674270894,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.5235987755982988
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -180.0681363867555,
175
+ -269.15674270894,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.5235987755982988
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -177.47006017540218,
188
+ -267.65674270894,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.5235987755982988
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -174.87198396404887,
201
+ -266.15674270894,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.5235987755982988
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -172.27390775269555,
214
+ -264.65674270894,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.5235987755982988
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -169.67583154134223,
227
+ -263.15674270894,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -167.07775532998892,
240
+ -261.65674270894,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 0.5235987755982988
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -164.4796791186356,
253
+ -260.15674270894,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "turn left",
257
+ "value": 30,
258
+ "yaw": 0.5235987755982988
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -164.4796791186356,
266
+ -260.15674270894,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 1.0471975511965976
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -162.9796791186356,
279
+ -257.55866649758667,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 1.0471975511965979
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -161.4796791186356,
292
+ -254.96059028623336,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 1.0471975511965979
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -159.9796791186356,
305
+ -252.36251407488004,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 1.0471975511965979
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -158.4796791186356,
318
+ -249.76443786352672,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 1.0471975511965979
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -156.9796791186356,
331
+ -247.1663616521734,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 1.0471975511965979
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -155.4796791186356,
344
+ -244.5682854408201,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 1.0471975511965979
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -153.9796791186356,
357
+ -241.97020922946678,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": 1.0471975511965979
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -152.4796791186356,
370
+ -239.37213301811346,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": 1.0471975511965979
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -150.9796791186356,
383
+ -236.77405680676014,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": 1.0471975511965979
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -149.4796791186356,
396
+ -234.17598059540683,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": 1.0471975511965979
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -147.9796791186356,
409
+ -231.5779043840535,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": 1.0471975511965979
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -146.4796791186356,
422
+ -228.9798281727002,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": 1.0471975511965979
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -144.9796791186356,
435
+ -226.38175196134688,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "stop",
439
+ "value": 0,
440
+ "yaw": 1.0471975511965979
441
+ }
442
+ }
443
+ {
444
+ "aim_landmark": {
445
+ "color": "test",
446
+ "feature": "test",
447
+ "position": [
448
+ -132.0,
449
+ -216.0,
450
+ 46.3108
451
+ ],
452
+ "shape": "test",
453
+ "dir": "center",
454
+ "size": "test",
455
+ "type": "building"
456
+ }
457
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_17-21-18_1844400657/pose.jsonl ADDED
@@ -0,0 +1,496 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1299.5762668315383,
6
+ -527.8910332815174,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1296.5762668315383,
19
+ -527.8910332815174,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1293.5762668315383,
32
+ -527.8910332815174,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1290.5762668315383,
45
+ -527.8910332815174,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -1287.5762668315383,
58
+ -527.8910332815174,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -1284.5762668315383,
71
+ -527.8910332815174,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -1281.5762668315383,
84
+ -527.8910332815174,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -1278.5762668315383,
97
+ -527.8910332815174,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -1275.5762668315383,
110
+ -527.8910332815174,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -1272.5762668315383,
123
+ -527.8910332815174,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.0
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -1269.5762668315383,
136
+ -527.8910332815174,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.0
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -1266.5762668315383,
149
+ -527.8910332815174,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.0
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -1263.5762668315383,
162
+ -527.8910332815174,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "turn right",
166
+ "value": 30,
167
+ "yaw": 0.0
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -1263.5762668315383,
175
+ -527.8910332815174,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -0.5235987755982988
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -1260.978190620185,
188
+ -529.3910332815174,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -0.5235987755982894
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -1258.3801144088316,
201
+ -530.8910332815174,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -0.5235987755982894
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -1255.7820381974782,
214
+ -532.3910332815174,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -0.5235987755982894
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -1253.1839619861248,
227
+ -533.8910332815174,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -0.5235987755982894
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -1250.5858857747714,
240
+ -535.3910332815174,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -0.5235987755982894
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -1247.987809563418,
253
+ -536.8910332815174,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -0.5235987755982894
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -1245.3897333520647,
266
+ -538.3910332815174,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -0.5235987755982894
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -1242.7916571407113,
279
+ -539.8910332815174,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -0.5235987755982894
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -1240.193580929358,
292
+ -541.3910332815174,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -0.5235987755982894
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -1237.5955047180046,
305
+ -542.8910332815174,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -0.5235987755982894
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -1234.9974285066512,
318
+ -544.3910332815174,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -0.5235987755982894
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -1232.3993522952978,
331
+ -545.8910332815174,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -0.5235987755982894
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -1229.8012760839445,
344
+ -547.3910332815174,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -0.5235987755982894
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -1227.203199872591,
357
+ -548.8910332815174,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": -0.5235987755982894
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -1224.6051236612377,
370
+ -550.3910332815174,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": -0.5235987755982894
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -1222.0070474498843,
383
+ -551.8910332815174,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": -0.5235987755982894
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -1219.408971238531,
396
+ -553.3910332815174,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": -0.5235987755982894
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -1216.8108950271776,
409
+ -554.8910332815174,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": -0.5235987755982894
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -1214.2128188158242,
422
+ -556.3910332815174,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": -0.5235987755982894
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -1211.6147426044708,
435
+ -557.8910332815174,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": -0.5235987755982894
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -1209.0166663931175,
448
+ -559.3910332815174,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": -0.5235987755982894
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -1206.418590181764,
461
+ -560.8910332815174,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": -0.5235987755982894
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -1203.8205139704107,
474
+ -562.3910332815174,
475
+ 30.45824585413169
476
+ ],
477
+ "type": "stop",
478
+ "value": 0,
479
+ "yaw": -0.5235987755982894
480
+ }
481
+ }
482
+ {
483
+ "aim_landmark": {
484
+ "color": "test",
485
+ "feature": "test",
486
+ "position": [
487
+ -1188.0,
488
+ -568.0,
489
+ 21.7254
490
+ ],
491
+ "shape": "test",
492
+ "dir": "center",
493
+ "size": "test",
494
+ "type": "building"
495
+ }
496
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_17-23-4_1934392735/pose.jsonl ADDED
@@ -0,0 +1,509 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1152.0580257804786,
6
+ -496.1073201538929,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1149.0580257804786,
19
+ -496.1073201538929,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1146.0580257804786,
32
+ -496.1073201538929,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1143.0580257804786,
45
+ -496.1073201538929,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -1140.0580257804786,
58
+ -496.1073201538929,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -1137.0580257804786,
71
+ -496.1073201538929,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -1134.0580257804786,
84
+ -496.1073201538929,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -1131.0580257804786,
97
+ -496.1073201538929,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -1128.0580257804786,
110
+ -496.1073201538929,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -1125.0580257804786,
123
+ -496.1073201538929,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.0
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -1122.0580257804786,
136
+ -496.1073201538929,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.0
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -1119.0580257804786,
149
+ -496.1073201538929,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.0
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -1116.0580257804786,
162
+ -496.1073201538929,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.0
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -1113.0580257804786,
175
+ -496.1073201538929,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.0
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -1110.0580257804786,
188
+ -496.1073201538929,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.0
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -1107.0580257804786,
201
+ -496.1073201538929,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.0
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -1104.0580257804786,
214
+ -496.1073201538929,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.0
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -1101.0580257804786,
227
+ -496.1073201538929,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.0
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -1098.0580257804786,
240
+ -496.1073201538929,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "turn right",
244
+ "value": 30,
245
+ "yaw": 0.0
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -1098.0580257804786,
253
+ -496.1073201538929,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "turn right",
257
+ "value": 30,
258
+ "yaw": -0.5235987755982988
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -1098.0580257804786,
266
+ -496.1073201538929,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.0471975511965976
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -1096.5580257804786,
279
+ -498.7053963652462,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.0471975511965979
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -1095.0580257804786,
292
+ -501.3034725765995,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.0471975511965979
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -1093.5580257804786,
305
+ -503.90154878795283,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "turn left",
309
+ "value": 30,
310
+ "yaw": -1.0471975511965979
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -1093.5580257804786,
318
+ -503.90154878795283,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -0.523598775598299
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -1090.9599495691252,
331
+ -505.40154878795283,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -0.5235987755982894
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -1088.3618733577719,
344
+ -506.90154878795283,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -0.5235987755982894
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -1085.7637971464185,
357
+ -508.40154878795283,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": -0.5235987755982894
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -1083.165720935065,
370
+ -509.90154878795283,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": -0.5235987755982894
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -1080.5676447237117,
383
+ -511.40154878795283,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": -0.5235987755982894
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -1077.9695685123584,
396
+ -512.9015487879528,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": -0.5235987755982894
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -1075.371492301005,
409
+ -514.4015487879528,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": -0.5235987755982894
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -1072.7734160896516,
422
+ -515.9015487879528,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": -0.5235987755982894
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -1070.1753398782982,
435
+ -517.4015487879528,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": -0.5235987755982894
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -1067.5772636669449,
448
+ -518.9015487879528,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": -0.5235987755982894
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -1064.9791874555915,
461
+ -520.4015487879528,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": -0.5235987755982894
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -1062.3811112442381,
474
+ -521.9015487879528,
475
+ 30.45824585413169
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": -0.5235987755982894
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -1059.7830350328848,
487
+ -523.4015487879528,
488
+ 30.45824585413169
489
+ ],
490
+ "type": "stop",
491
+ "value": 0,
492
+ "yaw": -0.5235987755982894
493
+ }
494
+ }
495
+ {
496
+ "aim_landmark": {
497
+ "color": "test",
498
+ "feature": "test",
499
+ "position": [
500
+ -1048.0,
501
+ -528.0,
502
+ 115.738
503
+ ],
504
+ "shape": "test",
505
+ "dir": "center",
506
+ "size": "test",
507
+ "type": "building"
508
+ }
509
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_17-49-39_2083149517/pose.jsonl ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -166.4212550708783,
6
+ -583.6653548595103,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -163.4212550708783,
19
+ -583.6653548595103,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -160.4212550708783,
32
+ -583.6653548595103,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -157.4212550708783,
45
+ -583.6653548595103,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "turn right",
49
+ "value": 30,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -157.4212550708783,
58
+ -583.6653548595103,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "turn right",
62
+ "value": 30,
63
+ "yaw": -0.5235987755982988
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -157.4212550708783,
71
+ -583.6653548595103,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965976
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -155.9212550708783,
84
+ -586.2634310708636,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965883
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -154.4212550708783,
97
+ -588.861507282217,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511966072
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -152.9212550708783,
110
+ -591.4595834935703,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511966072
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -151.4212550708783,
123
+ -594.0576597049237,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511966072
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -149.9212550708783,
136
+ -596.6557359162771,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511966072
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -148.4212550708783,
149
+ -599.2538121276305,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "stop",
153
+ "value": 0,
154
+ "yaw": -1.0471975511966072
155
+ }
156
+ }
157
+ {
158
+ "aim_landmark": {
159
+ "color": "test",
160
+ "feature": "test",
161
+ "position": [
162
+ -60.0,
163
+ -680.0,
164
+ 43.7495
165
+ ],
166
+ "shape": "test",
167
+ "dir": "left",
168
+ "size": "test",
169
+ "type": "building"
170
+ }
171
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_17-5-52_61101360/pose.jsonl ADDED
@@ -0,0 +1,561 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1269.6898735278605,
6
+ 47.96688694713757,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1266.6898735278605,
19
+ 47.96688694713757,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1263.6898735278605,
32
+ 47.96688694713757,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1260.6898735278605,
45
+ 47.96688694713757,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -1257.6898735278605,
58
+ 47.96688694713757,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -1254.6898735278605,
71
+ 47.96688694713757,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -1251.6898735278605,
84
+ 47.96688694713757,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -1248.6898735278605,
97
+ 47.96688694713757,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -1245.6898735278605,
110
+ 47.96688694713757,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -1242.6898735278605,
123
+ 47.96688694713757,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.0
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -1239.6898735278605,
136
+ 47.96688694713757,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.0
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -1236.6898735278605,
149
+ 47.96688694713757,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.0
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -1233.6898735278605,
162
+ 47.96688694713757,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.0
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -1230.6898735278605,
175
+ 47.96688694713757,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.0
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -1227.6898735278605,
188
+ 47.96688694713757,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.0
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -1224.6898735278605,
201
+ 47.96688694713757,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.0
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -1221.6898735278605,
214
+ 47.96688694713757,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.0
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -1218.6898735278605,
227
+ 47.96688694713757,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.0
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -1215.6898735278605,
240
+ 47.96688694713757,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 0.0
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -1212.6898735278605,
253
+ 47.96688694713757,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 0.0
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -1209.6898735278605,
266
+ 47.96688694713757,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 0.0
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -1206.6898735278605,
279
+ 47.96688694713757,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 0.0
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -1203.6898735278605,
292
+ 47.96688694713757,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 0.0
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -1200.6898735278605,
305
+ 47.96688694713757,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 0.0
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -1197.6898735278605,
318
+ 47.96688694713757,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 0.0
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -1194.6898735278605,
331
+ 47.96688694713757,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 0.0
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -1191.6898735278605,
344
+ 47.96688694713757,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 0.0
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -1188.6898735278605,
357
+ 47.96688694713757,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": 0.0
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -1185.6898735278605,
370
+ 47.96688694713757,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": 0.0
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -1182.6898735278605,
383
+ 47.96688694713757,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": 0.0
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -1179.6898735278605,
396
+ 47.96688694713757,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "turn right",
400
+ "value": 30,
401
+ "yaw": 0.0
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -1179.6898735278605,
409
+ 47.96688694713757,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": -0.5235987755982988
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -1177.0917973165072,
422
+ 46.46688694713757,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": -0.5235987755982894
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -1174.4937211051538,
435
+ 44.96688694713757,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": -0.5235987755982894
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -1171.8956448938004,
448
+ 43.46688694713757,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": -0.5235987755982894
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -1169.297568682447,
461
+ 41.96688694713757,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": -0.5235987755982894
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -1166.6994924710937,
474
+ 40.46688694713757,
475
+ 30.45824585413169
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": -0.5235987755982894
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -1164.1014162597403,
487
+ 38.96688694713757,
488
+ 30.45824585413169
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": -0.5235987755982894
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ -1161.503340048387,
500
+ 37.46688694713757,
501
+ 30.45824585413169
502
+ ],
503
+ "type": "go straight",
504
+ "value": 3,
505
+ "yaw": -0.5235987755982894
506
+ }
507
+ }
508
+ {
509
+ "action": {
510
+ "imageid": 39,
511
+ "pos": [
512
+ -1158.9052638370335,
513
+ 35.96688694713757,
514
+ 30.45824585413169
515
+ ],
516
+ "type": "go straight",
517
+ "value": 3,
518
+ "yaw": -0.5235987755982894
519
+ }
520
+ }
521
+ {
522
+ "action": {
523
+ "imageid": 40,
524
+ "pos": [
525
+ -1156.3071876256802,
526
+ 34.46688694713757,
527
+ 30.45824585413169
528
+ ],
529
+ "type": "go straight",
530
+ "value": 3,
531
+ "yaw": -0.5235987755982894
532
+ }
533
+ }
534
+ {
535
+ "action": {
536
+ "imageid": 41,
537
+ "pos": [
538
+ -1153.7091114143268,
539
+ 32.96688694713757,
540
+ 30.45824585413169
541
+ ],
542
+ "type": "stop",
543
+ "value": 0,
544
+ "yaw": -0.5235987755982894
545
+ }
546
+ }
547
+ {
548
+ "aim_landmark": {
549
+ "color": "test",
550
+ "feature": "test",
551
+ "position": [
552
+ -1144.0,
553
+ 32.0,
554
+ 19.2927
555
+ ],
556
+ "shape": "test",
557
+ "dir": "center",
558
+ "size": "test",
559
+ "type": "building"
560
+ }
561
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_17-55-5_987706141/pose.jsonl ADDED
@@ -0,0 +1,483 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 57.90106879131983,
6
+ -138.90161472221928,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 59.40106879131983,
19
+ -141.4996909335726,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 60.90106879131983,
32
+ -144.0977671449259,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 62.40106879131983,
45
+ -146.69584335627923,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 63.90106879131983,
58
+ -149.29391956763254,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 65.40106879131983,
71
+ -151.89199577898586,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 66.90106879131983,
84
+ -154.49007199033917,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 68.40106879131983,
97
+ -157.0881482016925,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 69.90106879131983,
110
+ -159.6862244130458,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 71.40106879131983,
123
+ -162.28430062439912,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 72.90106879131983,
136
+ -164.88237683575244,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 74.40106879131983,
149
+ -167.48045304710575,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 75.90106879131983,
162
+ -170.07852925845907,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 77.40106879131983,
175
+ -172.6766054698124,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 78.90106879131983,
188
+ -175.2746816811657,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 80.40106879131983,
201
+ -177.87275789251902,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 81.90106879131983,
214
+ -180.47083410387233,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 83.40106879131983,
227
+ -183.06891031522565,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 84.90106879131983,
240
+ -185.66698652657897,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.0471975511965979
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 86.40106879131983,
253
+ -188.26506273793228,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.0471975511965979
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 87.90106879131983,
266
+ -190.8631389492856,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.0471975511965979
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 89.40106879131983,
279
+ -193.46121516063891,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.0471975511965979
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 90.90106879131983,
292
+ -196.05929137199223,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.0471975511965979
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 92.40106879131983,
305
+ -198.65736758334555,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -1.0471975511965979
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 93.90106879131983,
318
+ -201.25544379469886,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -1.0471975511965979
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 95.40106879131983,
331
+ -203.85352000605218,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -1.0471975511965979
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 96.90106879131983,
344
+ -206.4515962174055,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "turn left",
348
+ "value": 30,
349
+ "yaw": -1.0471975511965979
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ 96.90106879131983,
357
+ -206.4515962174055,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": -0.523598775598299
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ 99.49914500267315,
370
+ -207.9515962174055,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": -0.5235987755982988
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ 102.09722121402646,
383
+ -209.4515962174055,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": -0.5235987755982988
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ 104.69529742537978,
396
+ -210.9515962174055,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": -0.5235987755982988
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ 107.2933736367331,
409
+ -212.4515962174055,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": -0.5235987755982988
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ 109.89144984808641,
422
+ -213.9515962174055,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": -0.5235987755982988
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ 112.48952605943973,
435
+ -215.4515962174055,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": -0.5235987755982988
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ 115.08760227079304,
448
+ -216.9515962174055,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": -0.5235987755982988
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ 117.68567848214636,
461
+ -218.4515962174055,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "stop",
465
+ "value": 0,
466
+ "yaw": -0.5235987755982988
467
+ }
468
+ }
469
+ {
470
+ "aim_landmark": {
471
+ "color": "test",
472
+ "feature": "test",
473
+ "position": [
474
+ 132.0,
475
+ -240.0,
476
+ 115.81
477
+ ],
478
+ "shape": "test",
479
+ "dir": "center",
480
+ "size": "test",
481
+ "type": "building"
482
+ }
483
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_17-6-15_1267889618/pose.jsonl ADDED
@@ -0,0 +1,470 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -963.0067507780923,
6
+ -123.91889444682018,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -961.5067507780923,
19
+ -121.32081823546686,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -960.0067507780923,
32
+ -118.72274202411354,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -958.5067507780923,
45
+ -116.12466581276023,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -957.0067507780923,
58
+ -113.52658960140691,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -955.5067507780923,
71
+ -110.9285133900536,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -954.0067507780923,
84
+ -108.33043717870028,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -952.5067507780923,
97
+ -105.73236096734696,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -951.0067507780923,
110
+ -103.13428475599365,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -949.5067507780923,
123
+ -100.53620854464033,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -948.0067507780923,
136
+ -97.93813233328702,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -946.5067507780923,
149
+ -95.3400561219337,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -945.0067507780923,
162
+ -92.74197991058038,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -943.5067507780923,
175
+ -90.14390369922707,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -942.0067507780923,
188
+ -87.54582748787375,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -940.5067507780923,
201
+ -84.94775127652044,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -939.0067507780923,
214
+ -82.34967506516712,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -937.5067507780923,
227
+ -79.7515988538138,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -936.0067507780923,
240
+ -77.15352264246049,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 1.0471975511965979
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -934.5067507780923,
253
+ -74.55544643110717,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 1.0471975511965979
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -933.0067507780923,
266
+ -71.95737021975386,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 1.0471975511965979
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -931.5067507780923,
279
+ -69.35929400840054,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "turn right",
283
+ "value": 30,
284
+ "yaw": 1.0471975511965979
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -931.5067507780923,
292
+ -69.35929400840054,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 0.523598775598299
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -928.9086745667389,
305
+ -67.85929400840054,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 0.5235987755982894
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -926.3105983553855,
318
+ -66.35929400840054,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 0.5235987755982894
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -923.7125221440322,
331
+ -64.85929400840054,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 0.5235987755982894
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -921.1144459326788,
344
+ -63.35929400840054,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 0.5235987755982894
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -918.5163697213254,
357
+ -61.85929400840054,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": 0.5235987755982894
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -915.918293509972,
370
+ -60.35929400840054,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": 0.5235987755982894
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -913.3202172986187,
383
+ -58.85929400840054,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": 0.5235987755982894
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -910.7221410872653,
396
+ -57.35929400840054,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": 0.5235987755982894
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -908.1240648759119,
409
+ -55.85929400840054,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": 0.5235987755982894
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -905.5259886645586,
422
+ -54.35929400840054,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "turn right",
426
+ "value": 30,
427
+ "yaw": 0.5235987755982894
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -905.5259886645586,
435
+ -54.35929400840054,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": -9.43689570931383e-15
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -902.5259886645586,
448
+ -54.35929400840054,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "stop",
452
+ "value": 0,
453
+ "yaw": -9.43689570931383e-15
454
+ }
455
+ }
456
+ {
457
+ "aim_landmark": {
458
+ "color": "test",
459
+ "feature": "test",
460
+ "position": [
461
+ -880.0,
462
+ -32.0,
463
+ 45.9813
464
+ ],
465
+ "shape": "test",
466
+ "dir": "left",
467
+ "size": "test",
468
+ "type": "building"
469
+ }
470
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_18-11-14_2138982933/pose.jsonl ADDED
@@ -0,0 +1,431 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1109.5521863161289,
6
+ 151.52912989992552,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1111.0521863161289,
19
+ 148.9310536885722,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1112.5521863161289,
32
+ 146.3329774772189,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1114.0521863161289,
45
+ 143.73490126586557,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -1115.5521863161289,
58
+ 141.13682505451226,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -1117.0521863161289,
71
+ 138.53874884315894,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -1118.5521863161289,
84
+ 135.94067263180563,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -1120.0521863161289,
97
+ 133.3425964204523,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -1121.5521863161289,
110
+ 130.744520209099,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -1123.0521863161289,
123
+ 128.14644399774568,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -1124.5521863161289,
136
+ 125.54836778639236,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -1126.0521863161289,
149
+ 122.95029157503905,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -1127.5521863161289,
162
+ 120.35221536368573,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -1129.0521863161289,
175
+ 117.75413915233241,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -1130.5521863161289,
188
+ 115.1560629409791,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -1132.0521863161289,
201
+ 112.55798672962578,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -1133.5521863161289,
214
+ 109.95991051827247,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -1135.0521863161289,
227
+ 107.36183430691915,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "turn right",
231
+ "value": 30,
232
+ "yaw": -2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -1135.0521863161289,
240
+ 107.36183430691915,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.617993877991494
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -1137.6502625274823,
253
+ 105.86183430691915,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.6179938779915037
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -1140.2483387388356,
266
+ 104.36183430691915,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.6179938779915037
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -1142.846414950189,
279
+ 102.86183430691915,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -2.6179938779915037
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -1145.4444911615424,
292
+ 101.36183430691915,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -2.6179938779915037
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -1148.0425673728957,
305
+ 99.86183430691915,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -2.6179938779915037
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -1150.6406435842491,
318
+ 98.36183430691915,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -2.6179938779915037
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -1153.2387197956025,
331
+ 96.86183430691915,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -2.6179938779915037
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -1155.8367960069559,
344
+ 95.36183430691915,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -2.6179938779915037
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -1158.4348722183092,
357
+ 93.86183430691915,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "turn left",
361
+ "value": 30,
362
+ "yaw": -2.6179938779915037
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -1158.4348722183092,
370
+ 93.86183430691915,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": -2.094395102393205
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -1159.9348722183092,
383
+ 91.26375809556583,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": -2.0943951023931953
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -1161.4348722183092,
396
+ 88.66568188421252,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": -2.0943951023931953
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -1162.9348722183092,
409
+ 86.0676056728592,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "stop",
413
+ "value": 0,
414
+ "yaw": -2.0943951023931953
415
+ }
416
+ }
417
+ {
418
+ "aim_landmark": {
419
+ "color": "test",
420
+ "feature": "test",
421
+ "position": [
422
+ -1188.0,
423
+ 52.0,
424
+ 15.6311
425
+ ],
426
+ "shape": "test",
427
+ "dir": "center",
428
+ "size": "test",
429
+ "type": "building"
430
+ }
431
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_18-18-32_1451042659/pose.jsonl ADDED
@@ -0,0 +1,665 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 343.33289467181004,
6
+ 2.6184418297032046,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 3.141592653589793
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 340.33289467181004,
19
+ 2.618441829703205,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 3.141592653589793
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 337.33289467181004,
32
+ 2.6184418297032055,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 3.141592653589793
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 334.33289467181004,
45
+ 2.618441829703206,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 3.141592653589793
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 331.33289467181004,
58
+ 2.6184418297032064,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 3.141592653589793
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 328.33289467181004,
71
+ 2.618441829703207,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 3.141592653589793
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 325.33289467181004,
84
+ 2.6184418297032073,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 3.141592653589793
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 322.33289467181004,
97
+ 2.6184418297032077,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 3.141592653589793
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 319.33289467181004,
110
+ 2.618441829703208,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 3.141592653589793
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 316.33289467181004,
123
+ 2.6184418297032086,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 3.141592653589793
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 313.33289467181004,
136
+ 2.618441829703209,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 3.141592653589793
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 310.33289467181004,
149
+ 2.6184418297032095,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 3.141592653589793
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 307.33289467181004,
162
+ 2.61844182970321,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 3.141592653589793
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 304.33289467181004,
175
+ 2.6184418297032104,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 3.141592653589793
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 301.33289467181004,
188
+ 2.618441829703211,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 3.141592653589793
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 298.33289467181004,
201
+ 2.6184418297032113,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 3.141592653589793
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 295.33289467181004,
214
+ 2.6184418297032117,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 3.141592653589793
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 292.33289467181004,
227
+ 2.618441829703212,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 3.141592653589793
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 289.33289467181004,
240
+ 2.6184418297032126,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 3.141592653589793
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 286.33289467181004,
253
+ 2.618441829703213,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 3.141592653589793
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 283.33289467181004,
266
+ 2.6184418297032135,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 3.141592653589793
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 280.33289467181004,
279
+ 2.618441829703214,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 3.141592653589793
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 277.33289467181004,
292
+ 2.6184418297032144,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 3.141592653589793
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 274.33289467181004,
305
+ 2.618441829703215,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 3.141592653589793
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 271.33289467181004,
318
+ 2.6184418297032153,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 3.141592653589793
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 268.33289467181004,
331
+ 2.6184418297032157,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 3.141592653589793
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 265.33289467181004,
344
+ 2.618441829703216,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 3.141592653589793
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ 262.33289467181004,
357
+ 2.6184418297032166,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": 3.141592653589793
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ 259.33289467181004,
370
+ 2.618441829703217,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": 3.141592653589793
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ 256.33289467181004,
383
+ 2.6184418297032175,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": 3.141592653589793
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ 253.33289467181004,
396
+ 2.618441829703218,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": 3.141592653589793
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ 250.33289467181004,
409
+ 2.6184418297032184,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": 3.141592653589793
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ 247.33289467181004,
422
+ 2.618441829703219,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": 3.141592653589793
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ 244.33289467181004,
435
+ 2.6184418297032193,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": 3.141592653589793
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ 241.33289467181004,
448
+ 2.6184418297032197,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": 3.141592653589793
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ 238.33289467181004,
461
+ 2.61844182970322,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "turn left",
465
+ "value": 30,
466
+ "yaw": 3.141592653589793
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ 238.33289467181004,
474
+ 2.61844182970322,
475
+ 30.45824585413169
476
+ ],
477
+ "type": "turn left",
478
+ "value": 30,
479
+ "yaw": 3.665191429188092
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ 238.33289467181004,
487
+ 2.61844182970322,
488
+ 30.45824585413169
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": 4.1887902047863905
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ 236.83289467181004,
500
+ 0.020365618349904135,
501
+ 30.45824585413169
502
+ ],
503
+ "type": "go straight",
504
+ "value": 3,
505
+ "yaw": -2.0943951023931953
506
+ }
507
+ }
508
+ {
509
+ "action": {
510
+ "imageid": 39,
511
+ "pos": [
512
+ 235.33289467181004,
513
+ -2.577710593003412,
514
+ 30.45824585413169
515
+ ],
516
+ "type": "go straight",
517
+ "value": 3,
518
+ "yaw": -2.0943951023931953
519
+ }
520
+ }
521
+ {
522
+ "action": {
523
+ "imageid": 40,
524
+ "pos": [
525
+ 233.83289467181004,
526
+ -5.1757868043567274,
527
+ 30.45824585413169
528
+ ],
529
+ "type": "go straight",
530
+ "value": 3,
531
+ "yaw": -2.0943951023931957
532
+ }
533
+ }
534
+ {
535
+ "action": {
536
+ "imageid": 41,
537
+ "pos": [
538
+ 232.33289467181004,
539
+ -7.7738630157100435,
540
+ 30.45824585413169
541
+ ],
542
+ "type": "go straight",
543
+ "value": 3,
544
+ "yaw": -2.0943951023931953
545
+ }
546
+ }
547
+ {
548
+ "action": {
549
+ "imageid": 42,
550
+ "pos": [
551
+ 230.83289467181004,
552
+ -10.37193922706336,
553
+ 30.45824585413169
554
+ ],
555
+ "type": "turn right",
556
+ "value": 30,
557
+ "yaw": -2.0943951023931953
558
+ }
559
+ }
560
+ {
561
+ "action": {
562
+ "imageid": 43,
563
+ "pos": [
564
+ 230.83289467181004,
565
+ -10.37193922706336,
566
+ 30.45824585413169
567
+ ],
568
+ "type": "go straight",
569
+ "value": 3,
570
+ "yaw": -2.617993877991494
571
+ }
572
+ }
573
+ {
574
+ "action": {
575
+ "imageid": 44,
576
+ "pos": [
577
+ 228.23481846045672,
578
+ -11.87193922706336,
579
+ 30.45824585413169
580
+ ],
581
+ "type": "go straight",
582
+ "value": 3,
583
+ "yaw": -2.6179938779914944
584
+ }
585
+ }
586
+ {
587
+ "action": {
588
+ "imageid": 45,
589
+ "pos": [
590
+ 225.6367422491034,
591
+ -13.37193922706336,
592
+ 30.45824585413169
593
+ ],
594
+ "type": "go straight",
595
+ "value": 3,
596
+ "yaw": -2.6179938779914944
597
+ }
598
+ }
599
+ {
600
+ "action": {
601
+ "imageid": 46,
602
+ "pos": [
603
+ 223.0386660377501,
604
+ -14.87193922706336,
605
+ 30.45824585413169
606
+ ],
607
+ "type": "go straight",
608
+ "value": 3,
609
+ "yaw": -2.6179938779914944
610
+ }
611
+ }
612
+ {
613
+ "action": {
614
+ "imageid": 47,
615
+ "pos": [
616
+ 220.44058982639677,
617
+ -16.371939227063358,
618
+ 30.45824585413169
619
+ ],
620
+ "type": "go straight",
621
+ "value": 3,
622
+ "yaw": -2.617993877991495
623
+ }
624
+ }
625
+ {
626
+ "action": {
627
+ "imageid": 48,
628
+ "pos": [
629
+ 217.84251361504346,
630
+ -17.871939227063358,
631
+ 30.45824585413169
632
+ ],
633
+ "type": "go straight",
634
+ "value": 3,
635
+ "yaw": -2.6179938779914944
636
+ }
637
+ }
638
+ {
639
+ "action": {
640
+ "imageid": 49,
641
+ "pos": [
642
+ 215.24443740369014,
643
+ -19.371939227063358,
644
+ 30.45824585413169
645
+ ],
646
+ "type": "stop",
647
+ "value": 0,
648
+ "yaw": -2.6179938779914944
649
+ }
650
+ }
651
+ {
652
+ "aim_landmark": {
653
+ "color": "test",
654
+ "feature": "test",
655
+ "position": [
656
+ 196.0,
657
+ -24.0,
658
+ 24.7257
659
+ ],
660
+ "shape": "test",
661
+ "dir": "center",
662
+ "size": "test",
663
+ "type": "building"
664
+ }
665
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_18-18-59_1868423919/pose.jsonl ADDED
@@ -0,0 +1,509 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -684.4065551605564,
6
+ -373.85447410678364,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.617993877991485
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -687.0046313719097,
19
+ -372.35447410678364,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.617993877991485
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -689.602707583263,
32
+ -370.85447410678364,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.6179938779915037
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -692.2007837946164,
45
+ -369.35447410678364,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.6179938779915037
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -694.7988600059698,
58
+ -367.85447410678364,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.6179938779915037
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -697.3969362173232,
71
+ -366.35447410678364,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.6179938779915037
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -699.9950124286765,
84
+ -364.85447410678364,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.6179938779915037
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -702.5930886400299,
97
+ -363.35447410678364,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.6179938779915037
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -705.1911648513833,
110
+ -361.85447410678364,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.6179938779915037
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -707.7892410627367,
123
+ -360.35447410678364,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.6179938779915037
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -710.38731727409,
136
+ -358.85447410678364,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.6179938779915037
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -712.9853934854434,
149
+ -357.35447410678364,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.6179938779915037
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -715.5834696967968,
162
+ -355.85447410678364,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.6179938779915037
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -718.1815459081502,
175
+ -354.35447410678364,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.6179938779915037
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -720.7796221195035,
188
+ -352.85447410678364,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.6179938779915037
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -723.3776983308569,
201
+ -351.35447410678364,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.6179938779915037
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -725.9757745422103,
214
+ -349.85447410678364,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 2.6179938779915037
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -728.5738507535636,
227
+ -348.35447410678364,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.6179938779915037
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -731.171926964917,
240
+ -346.85447410678364,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.6179938779915037
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -733.7700031762704,
253
+ -345.35447410678364,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 2.6179938779915037
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -736.3680793876238,
266
+ -343.85447410678364,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "turn right",
270
+ "value": 30,
271
+ "yaw": 2.6179938779915037
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -736.3680793876238,
279
+ -343.85447410678364,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 2.094395102393205
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -737.8680793876238,
292
+ -341.2563978954303,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 2.0943951023931953
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -739.3680793876238,
305
+ -338.658321684077,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 2.0943951023931953
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -740.8680793876238,
318
+ -336.0602454727237,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 2.0943951023931953
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -742.3680793876238,
331
+ -333.4621692613704,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 2.0943951023931953
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -743.8680793876238,
344
+ -330.86409305001706,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 2.0943951023931953
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -745.3680793876238,
357
+ -328.26601683866375,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": 2.0943951023931953
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -746.8680793876238,
370
+ -325.66794062731043,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": 2.0943951023931953
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -748.3680793876238,
383
+ -323.0698644159571,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": 2.0943951023931953
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -749.8680793876238,
396
+ -320.4717882046038,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": 2.0943951023931953
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -751.3680793876238,
409
+ -317.8737119932505,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": 2.0943951023931953
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -752.8680793876238,
422
+ -315.27563578189717,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "turn left",
426
+ "value": 30,
427
+ "yaw": 2.0943951023931953
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -752.8680793876238,
435
+ -315.27563578189717,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": 2.617993877991494
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -755.4661555989771,
448
+ -313.77563578189717,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": 2.6179938779915037
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -758.0642318103305,
461
+ -312.27563578189717,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": 2.6179938779915037
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -760.6623080216839,
474
+ -310.77563578189717,
475
+ 30.45824585413169
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": 2.6179938779915037
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -763.2603842330373,
487
+ -309.27563578189717,
488
+ 30.45824585413169
489
+ ],
490
+ "type": "stop",
491
+ "value": 0,
492
+ "yaw": 2.6179938779915037
493
+ }
494
+ }
495
+ {
496
+ "aim_landmark": {
497
+ "color": "test",
498
+ "feature": "test",
499
+ "position": [
500
+ -792.0,
501
+ -284.0,
502
+ 16.3265
503
+ ],
504
+ "shape": "test",
505
+ "dir": "center",
506
+ "size": "test",
507
+ "type": "building"
508
+ }
509
+ }
Image/env_airsim_16/astar_data/medium_average/2025-1-9_18-39-39_482417719/pose.jsonl ADDED
@@ -0,0 +1,587 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -766.2737516255685,
6
+ -560.5767043325313,
7
+ 30.45824585413169
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.617993877991485
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -768.8718278369217,
19
+ -559.0767043325313,
20
+ 30.45824585413169
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.617993877991485
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -771.4699040482751,
32
+ -557.5767043325313,
33
+ 30.45824585413169
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.6179938779915037
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -774.0679802596285,
45
+ -556.0767043325313,
46
+ 30.45824585413169
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.6179938779915037
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -776.6660564709819,
58
+ -554.5767043325313,
59
+ 30.45824585413169
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.6179938779915037
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -779.2641326823352,
71
+ -553.0767043325313,
72
+ 30.45824585413169
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.6179938779915037
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -781.8622088936886,
84
+ -551.5767043325313,
85
+ 30.45824585413169
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.6179938779915037
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -784.460285105042,
97
+ -550.0767043325313,
98
+ 30.45824585413169
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.6179938779915037
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -787.0583613163953,
110
+ -548.5767043325313,
111
+ 30.45824585413169
112
+ ],
113
+ "type": "turn right",
114
+ "value": 30,
115
+ "yaw": 2.6179938779915037
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -787.0583613163953,
123
+ -548.5767043325313,
124
+ 30.45824585413169
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.094395102393205
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -788.5583613163953,
136
+ -545.978628121178,
137
+ 30.45824585413169
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.094395102393186
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -790.0583613163953,
149
+ -543.3805519098246,
150
+ 30.45824585413169
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.094395102393186
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -791.5583613163953,
162
+ -540.7824756984712,
163
+ 30.45824585413169
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.094395102393186
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -793.0583613163953,
175
+ -538.1843994871178,
176
+ 30.45824585413169
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.094395102393186
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -794.5583613163953,
188
+ -535.5863232757645,
189
+ 30.45824585413169
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.094395102393186
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -796.0583613163953,
201
+ -532.9882470644111,
202
+ 30.45824585413169
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.094395102393186
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -797.5583613163953,
214
+ -530.3901708530577,
215
+ 30.45824585413169
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 2.094395102393186
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -799.0583613163953,
227
+ -527.7920946417044,
228
+ 30.45824585413169
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.094395102393186
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -800.5583613163953,
240
+ -525.194018430351,
241
+ 30.45824585413169
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.094395102393186
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -802.0583613163953,
253
+ -522.5959422189976,
254
+ 30.45824585413169
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 2.094395102393186
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -803.5583613163953,
266
+ -519.9978660076442,
267
+ 30.45824585413169
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 2.094395102393186
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -805.0583613163953,
279
+ -517.3997897962909,
280
+ 30.45824585413169
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 2.094395102393186
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -806.5583613163953,
292
+ -514.8017135849375,
293
+ 30.45824585413169
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 2.094395102393186
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -808.0583613163953,
305
+ -512.2036373735841,
306
+ 30.45824585413169
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 2.094395102393186
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -809.5583613163953,
318
+ -509.6055611622308,
319
+ 30.45824585413169
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 2.0943951023931953
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -811.0583613163953,
331
+ -507.0074849508775,
332
+ 30.45824585413169
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 2.0943951023931953
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -812.5583613163953,
344
+ -504.40940873952417,
345
+ 30.45824585413169
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 2.0943951023931953
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -814.0583613163953,
357
+ -501.81133252817085,
358
+ 30.45824585413169
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": 2.0943951023931953
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -815.5583613163953,
370
+ -499.21325631681754,
371
+ 30.45824585413169
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": 2.0943951023931953
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -817.0583613163953,
383
+ -496.6151801054642,
384
+ 30.45824585413169
385
+ ],
386
+ "type": "turn left",
387
+ "value": 30,
388
+ "yaw": 2.0943951023931953
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -817.0583613163953,
396
+ -496.6151801054642,
397
+ 30.45824585413169
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": 2.617993877991494
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -819.6564375277487,
409
+ -495.1151801054642,
410
+ 30.45824585413169
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": 2.6179938779915037
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -822.2545137391021,
422
+ -493.6151801054642,
423
+ 30.45824585413169
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": 2.6179938779915037
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -824.8525899504555,
435
+ -492.1151801054642,
436
+ 30.45824585413169
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": 2.6179938779915037
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -827.4506661618088,
448
+ -490.6151801054642,
449
+ 30.45824585413169
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": 2.6179938779915037
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -830.0487423731622,
461
+ -489.1151801054642,
462
+ 30.45824585413169
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": 2.6179938779915037
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -832.6468185845156,
474
+ -487.6151801054642,
475
+ 30.45824585413169
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": 2.6179938779915037
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -835.244894795869,
487
+ -486.1151801054642,
488
+ 30.45824585413169
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": 2.6179938779915037
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ -837.8429710072223,
500
+ -484.6151801054642,
501
+ 30.45824585413169
502
+ ],
503
+ "type": "go straight",
504
+ "value": 3,
505
+ "yaw": 2.6179938779915037
506
+ }
507
+ }
508
+ {
509
+ "action": {
510
+ "imageid": 39,
511
+ "pos": [
512
+ -840.4410472185757,
513
+ -483.1151801054642,
514
+ 30.45824585413169
515
+ ],
516
+ "type": "go straight",
517
+ "value": 3,
518
+ "yaw": 2.6179938779915037
519
+ }
520
+ }
521
+ {
522
+ "action": {
523
+ "imageid": 40,
524
+ "pos": [
525
+ -843.0391234299291,
526
+ -481.6151801054642,
527
+ 30.45824585413169
528
+ ],
529
+ "type": "go straight",
530
+ "value": 3,
531
+ "yaw": 2.6179938779915037
532
+ }
533
+ }
534
+ {
535
+ "action": {
536
+ "imageid": 41,
537
+ "pos": [
538
+ -845.6371996412825,
539
+ -480.1151801054642,
540
+ 30.45824585413169
541
+ ],
542
+ "type": "go straight",
543
+ "value": 3,
544
+ "yaw": 2.6179938779915037
545
+ }
546
+ }
547
+ {
548
+ "action": {
549
+ "imageid": 42,
550
+ "pos": [
551
+ -848.2352758526358,
552
+ -478.6151801054642,
553
+ 30.45824585413169
554
+ ],
555
+ "type": "go straight",
556
+ "value": 3,
557
+ "yaw": 2.6179938779915037
558
+ }
559
+ }
560
+ {
561
+ "action": {
562
+ "imageid": 43,
563
+ "pos": [
564
+ -850.8333520639892,
565
+ -477.1151801054642,
566
+ 30.45824585413169
567
+ ],
568
+ "type": "stop",
569
+ "value": 0,
570
+ "yaw": 2.6179938779915037
571
+ }
572
+ }
573
+ {
574
+ "aim_landmark": {
575
+ "color": "test",
576
+ "feature": "test",
577
+ "position": [
578
+ -872.0,
579
+ -460.0,
580
+ 24.4065
581
+ ],
582
+ "shape": "test",
583
+ "dir": "center",
584
+ "size": "test",
585
+ "type": "building"
586
+ }
587
+ }