diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-17-58_1845716951/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-17-58_1845716951/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4d82b32fe7512e43301742302d5fc8c622c19043 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-17-58_1845716951/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -48.80620053993708, + 68.53033875316363, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -47.30620053993708, + 65.93226254181032, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -45.80620053993708, + 63.334186330457, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -44.30620053993708, + 60.736110119103685, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -42.80620053993708, + 58.13803390775037, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -41.30620053993708, + 55.53995769639705, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -39.80620053993708, + 52.94188148504374, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -38.30620053993708, + 50.34380527369042, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -36.80620053993708, + 47.745729062337105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -35.30620053993708, + 45.14765285098379, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -33.80620053993708, + 42.54957663963047, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -32.30620053993708, + 39.95150042827716, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -30.80620053993708, + 37.35342421692384, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -29.30620053993708, + 34.755348005570525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -27.80620053993708, + 32.15727179421721, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -26.30620053993708, + 29.559195582863893, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -24.80620053993708, + 26.961119371510577, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -23.30620053993708, + 24.36304316015726, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -21.80620053993708, + 21.764966948803945, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -20.30620053993708, + 19.16689073745063, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -18.80620053993708, + 16.568814526097313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -17.30620053993708, + 13.970738314743997, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -15.80620053993708, + 11.372662103390681, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -14.30620053993708, + 8.774585892037365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -12.80620053993708, + 6.176509680684049, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -11.30620053993708, + 3.578433469330733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -9.80620053993708, + 0.9803572579774169, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -8.30620053993708, + -1.617718953375899, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -6.80620053993708, + -4.215795164729215, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -5.30620053993708, + -6.813871376082531, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -3.80620053993708, + -9.411947587435847, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2.3062005399370795, + -12.010023798789163, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -0.8062005399370791, + -14.60810001014248, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -0.8062005399370791, + -14.60810001014248, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1.791875671416237, + -16.10810001014248, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4.389951882769553, + -17.60810001014248, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 20.0, + -40.0, + 31.11 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-2-24_1460654187/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-2-24_1460654187/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0b934770e09c817714b2ada0b543f0bdac8e9489 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-2-24_1460654187/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -71.30883723633552, + 16.203722521820325, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -68.7107610249822, + 14.703722521820325, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -68.7107610249822, + 14.703722521820325, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -67.2107610249822, + 12.105646310467009, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -65.7107610249822, + 9.507570099113693, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -64.2107610249822, + 6.909493887760377, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -62.710761024982205, + 4.311417676407061, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -61.210761024982205, + 1.7133414650537446, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -59.710761024982205, + -0.8847347462995714, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -59.710761024982205, + -0.8847347462995714, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -57.11268481362889, + -2.3847347462995714, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -54.51460860227557, + -3.8847347462995714, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -51.91653239092226, + -5.384734746299571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -49.31845617956894, + -6.884734746299571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -46.720379968215624, + -8.384734746299571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -44.12230375686231, + -9.884734746299571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -41.52422754550899, + -11.384734746299571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -38.926151334155676, + -12.884734746299571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -36.32807512280236, + -14.384734746299571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -33.729998911449044, + -15.884734746299571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -31.13192270009573, + -17.38473474629957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -28.533846488742412, + -18.88473474629957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -25.935770277389096, + -20.38473474629957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -23.33769406603578, + -21.88473474629957, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -23.33769406603578, + -21.88473474629957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -20.33769406603578, + -21.88473474629957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -17.33769406603578, + -21.88473474629957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -14.33769406603578, + -21.88473474629957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -11.33769406603578, + -21.88473474629957, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 20.0, + -40.0, + 31.11 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-21-21_1820965014/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-21-21_1820965014/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..56dd17c190ace2142b7fe182223febb9f744b8c4 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-21-21_1820965014/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1948.9491799817376, + 236.22832184074815, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1950.4491799817376, + 238.82639805210147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1951.9491799817376, + 241.42447426345478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1953.4491799817376, + 244.0225504748081, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1954.9491799817376, + 246.62062668616142, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1956.4491799817376, + 249.21870289751473, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1957.9491799817376, + 251.81677910886805, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1959.4491799817376, + 254.41485532022136, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1960.9491799817376, + 257.0129315315747, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1962.4491799817376, + 259.611007742928, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1963.9491799817376, + 262.2090839542813, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1992.0, + 328.0, + 3.01289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-22-32_340563072/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-22-32_340563072/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..35677474b2a6688a3e17046de713c8a66899c873 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-22-32_340563072/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1651.558650162431, + -137.33161057042923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1648.9605739510775, + -138.83161057042923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1646.3624977397242, + -140.33161057042923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1643.7644215283708, + -141.83161057042923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1641.1663453170174, + -143.33161057042923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1638.568269105664, + -144.83161057042923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1635.9701928943107, + -146.33161057042923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1633.3721166829573, + -147.83161057042923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1630.774040471604, + -149.33161057042923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1628.1759642602506, + -150.83161057042923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1625.5778880488972, + -152.33161057042923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1622.9798118375438, + -153.83161057042923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1620.3817356261904, + -155.33161057042923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1617.783659414837, + -156.83161057042923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1615.1855832034837, + -158.33161057042923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1612.5875069921303, + -159.83161057042923, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1612.5875069921303, + -159.83161057042923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1609.5875069921303, + -159.83161057042923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1606.5875069921303, + -159.83161057042923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1603.5875069921303, + -159.83161057042923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1600.5875069921303, + -159.83161057042923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1597.5875069921303, + -159.83161057042923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1594.5875069921303, + -159.83161057042923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1591.5875069921303, + -159.83161057042923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1588.5875069921303, + -159.83161057042923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1585.5875069921303, + -159.83161057042923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1582.5875069921303, + -159.83161057042923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1579.5875069921303, + -159.83161057042923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1576.5875069921303, + -159.83161057042923, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1548.0, + -168.0, + 5.86359 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-22-49_353673391/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-22-49_353673391/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..173a3367fd82eeb34b6295cc6c5d16ef56133c47 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-22-49_353673391/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1025.1234985400756, + 820.4335655605695, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1026.6234985400756, + 823.0316417719228, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1028.1234985400756, + 825.6297179832761, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1029.6234985400756, + 828.2277941946295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1031.1234985400756, + 830.8258704059829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1032.6234985400756, + 833.4239466173362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1034.1234985400756, + 836.0220228286896, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1035.6234985400756, + 838.620099040043, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1037.1234985400756, + 841.2181752513964, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1038.6234985400756, + 843.8162514627497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1040.1234985400756, + 846.4143276741031, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1040.1234985400756, + 846.4143276741031, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1042.721574751429, + 847.9143276741031, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1045.3196509627824, + 849.4143276741031, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1047.9177271741357, + 850.9143276741031, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1050.515803385489, + 852.4143276741031, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1053.1138795968425, + 853.9143276741031, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1055.7119558081959, + 855.4143276741031, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1058.3100320195492, + 856.9143276741031, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1060.9081082309026, + 858.4143276741031, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1063.506184442256, + 859.9143276741031, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1066.1042606536093, + 861.4143276741031, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1068.7023368649627, + 862.9143276741031, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1071.300413076316, + 864.4143276741031, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1071.300413076316, + 864.4143276741031, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1072.800413076316, + 867.0124038854565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1074.300413076316, + 869.6104800968099, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1075.800413076316, + 872.2085563081632, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1077.300413076316, + 874.8066325195166, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1078.800413076316, + 877.40470873087, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1096.0, + 896.0, + 34.2564 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-25-36_330546620/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-25-36_330546620/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..88714b342764f308953810604611caa94f3a71df --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-25-36_330546620/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1899.948347286682, + 65.82546850340486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1898.448347286682, + 68.42354471475818, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1896.948347286682, + 71.0216209261115, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1895.448347286682, + 73.61969713746481, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1893.948347286682, + 76.21777334881813, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1892.448347286682, + 78.81584956017144, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1890.948347286682, + 81.41392577152476, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1889.448347286682, + 84.01200198287808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1887.948347286682, + 86.61007819423139, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1886.448347286682, + 89.20815440558471, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1884.948347286682, + 91.80623061693802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1883.448347286682, + 94.40430682829134, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1883.448347286682, + 94.40430682829134, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1883.448347286682, + 97.40430682829134, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1883.448347286682, + 100.40430682829134, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1883.448347286682, + 103.40430682829134, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1883.448347286682, + 106.40430682829134, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1883.448347286682, + 109.40430682829134, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1883.448347286682, + 112.40430682829134, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1883.448347286682, + 115.40430682829134, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1883.448347286682, + 118.40430682829134, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1883.448347286682, + 121.40430682829134, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1868.0, + 168.0, + 104.903 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-27-17_960188534/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-27-17_960188534/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..95d12b56df820cc25065bc3585321aee571076bf --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-27-17_960188534/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 614.7914773008619, + 227.96898813382523, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 613.2914773008619, + 225.37091192247192, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 611.7914773008619, + 222.7728357111186, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 610.2914773008619, + 220.1747594997653, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 608.7914773008619, + 217.57668328841197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 607.2914773008619, + 214.97860707705865, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 605.7914773008619, + 212.38053086570534, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 604.2914773008619, + 209.78245465435202, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 602.7914773008619, + 207.1843784429987, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 601.2914773008619, + 204.5863022316454, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 599.7914773008619, + 201.98822602029207, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 598.2914773008619, + 199.39014980893876, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 596.7914773008619, + 196.79207359758544, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 595.2914773008619, + 194.19399738623213, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 593.7914773008619, + 191.5959211748788, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 592.2914773008619, + 188.9978449635255, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 590.7914773008619, + 186.39976875217218, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 589.2914773008619, + 183.80169254081886, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 587.7914773008619, + 181.20361632946555, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 586.2914773008619, + 178.60554011811223, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 584.7914773008619, + 176.00746390675891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 583.2914773008619, + 173.4093876954056, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 581.7914773008619, + 170.81131148405228, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 580.2914773008619, + 168.21323527269897, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 578.7914773008619, + 165.61515906134565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 577.2914773008619, + 163.01708284999233, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 575.7914773008619, + 160.41900663863902, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 575.7914773008619, + 160.41900663863902, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 575.7914773008619, + 157.41900663863902, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 575.7914773008619, + 154.41900663863902, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 575.7914773008619, + 151.41900663863902, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 575.7914773008619, + 148.41900663863902, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 575.7914773008619, + 145.41900663863902, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 575.7914773008619, + 142.41900663863902, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 568.0, + 120.0, + 30.9312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-29-45_2108785490/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-29-45_2108785490/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c88783b469efbd69c9c4f1b710317b8540cf6e55 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-29-45_2108785490/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 677.4607550706124, + -192.65861373430994, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 677.4607550706124, + -189.65861373430994, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 677.4607550706124, + -186.65861373430994, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 677.4607550706124, + -183.65861373430994, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 677.4607550706124, + -180.65861373430994, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 677.4607550706124, + -177.65861373430994, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 677.4607550706124, + -174.65861373430994, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 677.4607550706124, + -171.65861373430994, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 677.4607550706124, + -168.65861373430994, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 677.4607550706124, + -165.65861373430994, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 677.4607550706124, + -162.65861373430994, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 677.4607550706124, + -159.65861373430994, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 677.4607550706124, + -156.65861373430994, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 677.4607550706124, + -153.65861373430994, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 677.4607550706124, + -150.65861373430994, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 677.4607550706124, + -147.65861373430994, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 677.4607550706124, + -144.65861373430994, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 677.4607550706124, + -141.65861373430994, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 677.4607550706124, + -138.65861373430994, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 677.4607550706124, + -135.65861373430994, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 677.4607550706124, + -132.65861373430994, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 677.4607550706124, + -132.65861373430994, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 678.9607550706124, + -130.06053752295662, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 680.4607550706124, + -127.4624613116033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 681.9607550706124, + -124.86438510024999, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 683.4607550706124, + -122.26630888889667, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 684.9607550706124, + -119.66823267754336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 686.4607550706124, + -117.07015646619004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 687.9607550706124, + -114.47208025483673, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 689.4607550706124, + -111.87400404348341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 690.9607550706124, + -109.2759278321301, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 692.4607550706124, + -106.67785162077678, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 693.9607550706124, + -104.07977540942346, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 695.4607550706124, + -101.48169919807015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 696.9607550706124, + -98.88362298671683, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 698.4607550706124, + -96.28554677536351, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 699.9607550706124, + -93.6874705640102, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 708.0, + -68.0, + 2.61985 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-33-8_989492335/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-33-8_989492335/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8d54c602c323eba0f7dc496fc3fe58fca161af7a --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-33-8_989492335/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 670.5025481845443, + 123.20996861663079, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 667.5025481845443, + 123.20996861663079, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 664.5025481845443, + 123.20996861663079, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 661.5025481845443, + 123.20996861663079, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 658.5025481845443, + 123.20996861663079, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 655.5025481845443, + 123.20996861663079, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 652.5025481845443, + 123.20996861663079, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 649.5025481845443, + 123.20996861663079, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 646.5025481845443, + 123.20996861663079, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 643.5025481845443, + 123.20996861663079, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 640.5025481845443, + 123.20996861663079, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 637.5025481845443, + 123.20996861663079, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 634.5025481845443, + 123.20996861663079, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 631.5025481845443, + 123.20996861663079, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 628.5025481845443, + 123.20996861663079, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 625.5025481845443, + 123.20996861663079, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 622.5025481845443, + 123.20996861663079, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 619.5025481845443, + 123.20996861663079, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 616.5025481845443, + 123.20996861663079, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 613.5025481845443, + 123.20996861663079, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 568.0, + 120.0, + 30.9312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-37-47_1374631287/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-37-47_1374631287/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16f6565573c756ed842213c032f2e97a267b224b --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-37-47_1374631287/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1020.5071463060752, + 216.8107185223486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1023.1052225174285, + 215.3107185223486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1025.7032987287819, + 213.8107185223486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1028.3013749401352, + 212.3107185223486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1030.8994511514886, + 210.8107185223486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1033.497527362842, + 209.3107185223486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1036.0956035741954, + 207.8107185223486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1038.6936797855487, + 206.3107185223486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1041.291755996902, + 204.8107185223486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1043.8898322082555, + 203.3107185223486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1046.4879084196089, + 201.8107185223486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1049.0859846309622, + 200.3107185223486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1051.6840608423156, + 198.8107185223486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1054.282137053669, + 197.3107185223486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1056.8802132650223, + 195.8107185223486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1059.4782894763757, + 194.3107185223486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1062.076365687729, + 192.8107185223486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1064.6744418990825, + 191.3107185223486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1067.2725181104358, + 189.8107185223486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1069.8705943217892, + 188.3107185223486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1072.4686705331426, + 186.8107185223486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1075.066746744496, + 185.3107185223486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1077.6648229558493, + 183.8107185223486, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1124.0, + 152.0, + 214.658 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-41-30_582972798/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-41-30_582972798/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..39491a601327495a9b45a893fbaeb4d8b97d8e03 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-41-30_582972798/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1985.8108151850156, + 55.0936772986025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1985.8108151850156, + 52.0936772986025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1985.8108151850156, + 49.0936772986025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1985.8108151850156, + 46.0936772986025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1985.8108151850156, + 43.0936772986025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1985.8108151850156, + 40.0936772986025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1985.8108151850156, + 37.0936772986025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1985.8108151850156, + 34.0936772986025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1985.8108151850156, + 31.0936772986025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1985.8108151850156, + 28.0936772986025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1985.8108151850156, + 25.0936772986025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1985.8108151850156, + 22.0936772986025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1985.8108151850156, + 19.0936772986025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1985.8108151850156, + 16.0936772986025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1985.8108151850156, + 13.0936772986025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1985.8108151850156, + 10.0936772986025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1985.8108151850156, + 7.0936772986025005, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1985.8108151850156, + 4.0936772986025005, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1985.8108151850156, + 1.0936772986025005, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1985.8108151850156, + -1.9063227013974995, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1985.8108151850156, + -4.9063227013974995, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1985.8108151850156, + -7.9063227013974995, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1985.8108151850156, + -10.9063227013975, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1985.8108151850156, + -13.9063227013975, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1985.8108151850156, + -16.9063227013975, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1985.8108151850156, + -19.9063227013975, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1985.8108151850156, + -22.9063227013975, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1985.8108151850156, + -25.9063227013975, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1985.8108151850156, + -28.9063227013975, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1985.8108151850156, + -31.9063227013975, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1985.8108151850156, + -34.9063227013975, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1985.8108151850156, + -34.9063227013975, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1984.3108151850156, + -37.504398912750815, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1982.8108151850156, + -40.10247512410413, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1981.3108151850156, + -42.70055133545745, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1979.8108151850156, + -45.29862754681076, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1976.0, + -64.0, + 50.1663 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-52-51_866596855/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-52-51_866596855/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6eba862ff555ea217142579bcb43c23f227b461f --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-52-51_866596855/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 801.2159908432659, + -147.57125636758647, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 798.6179146319125, + -146.07125636758647, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 796.0198384205592, + -144.57125636758647, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 793.4217622092058, + -143.07125636758647, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 790.8236859978524, + -141.57125636758647, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 788.225609786499, + -140.07125636758647, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 785.6275335751457, + -138.57125636758647, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 783.0294573637923, + -137.07125636758647, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 780.4313811524389, + -135.57125636758647, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 777.8333049410855, + -134.07125636758647, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 775.2352287297322, + -132.57125636758647, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 772.6371525183788, + -131.07125636758647, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 770.0390763070254, + -129.57125636758647, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 767.441000095672, + -128.07125636758647, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 764.8429238843187, + -126.57125636758647, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 762.2448476729653, + -125.07125636758647, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 759.6467714616119, + -123.57125636758647, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 757.0486952502586, + -122.07125636758647, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 754.4506190389052, + -120.57125636758647, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 751.8525428275518, + -119.07125636758647, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 749.2544666161984, + -117.57125636758647, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 749.2544666161984, + -117.57125636758647, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 747.7544666161984, + -114.97318015623316, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 746.2544666161984, + -112.37510394487984, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 744.7544666161984, + -109.77702773352652, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 743.2544666161984, + -107.17895152217321, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 741.7544666161984, + -104.58087531081989, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 740.2544666161984, + -101.98279909946658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 738.7544666161984, + -99.38472288811326, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 737.2544666161984, + -96.78664667675994, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 708.0, + -68.0, + 2.61985 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-58-50_296528780/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-58-50_296528780/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ea0a845662247da5cc3d5d048f4729afe59cd689 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-58-50_296528780/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 321.61585371421666, + 232.9930194265802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 319.01777750286334, + 231.4930194265802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 316.41970129151, + 229.9930194265802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 313.8216250801567, + 228.4930194265802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 311.2235488688034, + 226.9930194265802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 308.6254726574501, + 225.4930194265802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 306.02739644609676, + 223.9930194265802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 303.42932023474344, + 222.4930194265802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 300.8312440233901, + 220.9930194265802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 298.2331678120368, + 219.4930194265802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 295.6350916006835, + 217.9930194265802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 293.0370153893302, + 216.4930194265802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 290.43893917797686, + 214.9930194265802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 287.84086296662355, + 213.4930194265802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 285.24278675527023, + 211.9930194265802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 282.6447105439169, + 210.4930194265802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 280.0466343325636, + 208.9930194265802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 277.4485581212103, + 207.4930194265802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 274.85048190985697, + 205.9930194265802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 272.25240569850365, + 204.4930194265802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 269.65432948715033, + 202.9930194265802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 267.056253275797, + 201.4930194265802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 264.4581770644437, + 199.9930194265802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 261.8601008530904, + 198.4930194265802, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 261.8601008530904, + 198.4930194265802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 260.3601008530904, + 195.89494321522687, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 258.8601008530904, + 193.29686700387356, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 257.3601008530904, + 190.69879079252024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 255.8601008530904, + 188.10071458116693, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 254.3601008530904, + 185.5026383698136, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 252.8601008530904, + 182.9045621584603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 251.3601008530904, + 180.30648594710698, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 228.0, + 164.0, + 51.3126 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-0-54_1243769942/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-0-54_1243769942/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..59b8e162c460ed5207d0cea62d2b7f1923fe171f --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-0-54_1243769942/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1398.3594226856703, + -112.50664046514754, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1400.9574988970237, + -111.00664046514754, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1403.555575108377, + -109.50664046514754, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1406.1536513197304, + -108.00664046514754, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1408.7517275310838, + -106.50664046514754, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1411.3498037424372, + -105.00664046514754, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1413.9478799537906, + -103.50664046514754, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1416.545956165144, + -102.00664046514754, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1419.1440323764973, + -100.50664046514754, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1421.7421085878507, + -99.00664046514754, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1424.340184799204, + -97.50664046514754, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1488.0, + -52.0, + 18.9243 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-12-14_1566586128/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-12-14_1566586128/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..41aa94c9a02aea6c463e9f2d334dff43556a3cd8 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-12-14_1566586128/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1024.6788591940924, + 189.6105904638149, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1027.6788591940924, + 189.6105904638149, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1030.6788591940924, + 189.6105904638149, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1033.6788591940924, + 189.6105904638149, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1036.6788591940924, + 189.6105904638149, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1039.6788591940924, + 189.6105904638149, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1042.6788591940924, + 189.6105904638149, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1042.6788591940924, + 189.6105904638149, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1045.2769354054458, + 188.1105904638149, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1047.8750116167992, + 186.6105904638149, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1050.4730878281525, + 185.1105904638149, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1053.071164039506, + 183.6105904638149, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1055.6692402508593, + 182.1105904638149, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1058.2673164622126, + 180.6105904638149, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1060.865392673566, + 179.1105904638149, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1063.4634688849194, + 177.6105904638149, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1066.0615450962728, + 176.1105904638149, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1068.6596213076261, + 174.6105904638149, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1071.2576975189795, + 173.1105904638149, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1073.8557737303329, + 171.6105904638149, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1076.4538499416863, + 170.1105904638149, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1124.0, + 152.0, + 214.658 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-13-39_315813605/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-13-39_315813605/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b1f9e710c8b66234a4d38185de2b34ec3ceda795 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-13-39_315813605/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1564.961292649811, + 848.1733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1561.961292649811, + 848.1733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1558.961292649811, + 848.1733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1555.961292649811, + 848.1733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1552.961292649811, + 848.1733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1549.961292649811, + 848.1733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1546.961292649811, + 848.1733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1543.961292649811, + 848.1733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1540.961292649811, + 848.1733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1537.961292649811, + 848.1733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1534.961292649811, + 848.1733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1531.961292649811, + 848.1733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1528.961292649811, + 848.1733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1525.961292649811, + 848.1733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1522.961292649811, + 848.1733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1519.961292649811, + 848.1733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1516.961292649811, + 848.1733933634227, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1516.961292649811, + 848.1733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1514.3632164384576, + 846.6733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1511.7651402271042, + 845.1733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1509.1670640157508, + 843.6733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1506.5689878043975, + 842.1733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1503.970911593044, + 840.6733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1501.3728353816907, + 839.1733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1498.7747591703373, + 837.6733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1496.176682958984, + 836.1733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1493.5786067476306, + 834.6733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1490.9805305362772, + 833.1733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1488.3824543249239, + 831.6733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1485.7843781135705, + 830.1733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1483.186301902217, + 828.6733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1480.5882256908637, + 827.1733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1477.9901494795104, + 825.6733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1475.392073268157, + 824.1733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1472.7939970568036, + 822.6733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1470.1959208454502, + 821.1733933634227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1467.5978446340969, + 819.6733933634227, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.0, + 808.0, + 102.413 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-19-58_138172497/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-19-58_138172497/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..889d696b5ea9ef353b3aa22fa847dfc056ded5c4 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-19-58_138172497/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1402.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1405.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1408.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1411.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1414.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1417.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1420.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1423.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1426.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1429.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1432.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1435.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1438.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1441.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1444.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1447.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1450.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1453.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1456.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1459.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1462.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1465.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1468.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1471.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1474.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1477.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1480.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1483.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1486.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1489.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1492.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1492.7777993307466, + -141.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1495.3758755421, + -142.7616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1497.9739517534533, + -144.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1500.5720279648067, + -145.7616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1503.17010417616, + -147.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1505.7681803875134, + -148.7616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1508.3662565988668, + -150.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1510.9643328102202, + -151.7616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1513.5624090215736, + -153.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1516.160485232927, + -154.7616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1518.7585614442803, + -156.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1521.3566376556337, + -157.7616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1523.954713866987, + -159.2616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1526.5527900783404, + -160.7616423310499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1529.1508662896938, + -162.2616423310499, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1548.0, + -168.0, + 5.86359 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-2-43_1145975358/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-2-43_1145975358/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..df5e75cc2fd45b2df3f032adf9621f502fe179ad --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-2-43_1145975358/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 365.9439053602757, + 109.27191890384735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 363.3458291489224, + 110.77191890384735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 360.7477529375691, + 112.27191890384735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 358.1496767262158, + 113.77191890384735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 355.55160051486246, + 115.27191890384735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 352.95352430350914, + 116.77191890384735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 350.3554480921558, + 118.27191890384735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 347.7573718808025, + 119.77191890384735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 345.1592956694492, + 121.27191890384735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 342.5612194580959, + 122.77191890384735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 339.96314324674256, + 124.27191890384735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 337.36506703538925, + 125.77191890384735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 334.76699082403593, + 127.27191890384735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 332.1689146126826, + 128.77191890384734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914984 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 329.5708384013293, + 130.27191890384734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 326.972762189976, + 131.77191890384734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 324.37468597862267, + 133.27191890384734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 321.77660976726935, + 134.77191890384734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 319.17853355591603, + 136.27191890384734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 316.5804573445627, + 137.77191890384734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 313.9823811332094, + 139.27191890384734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 311.3843049218561, + 140.77191890384734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 308.78622871050277, + 142.27191890384734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 306.18815249914945, + 143.77191890384734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 303.59007628779614, + 145.27191890384734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 300.9920000764428, + 146.77191890384734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 298.3939238650895, + 148.27191890384734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 295.7958476537362, + 149.77191890384734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 293.1977714423829, + 151.27191890384734, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 293.1977714423829, + 151.27191890384734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 290.1977714423829, + 151.27191890384734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 287.1977714423829, + 151.27191890384734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 284.1977714423829, + 151.27191890384734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 281.1977714423829, + 151.27191890384734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 278.1977714423829, + 151.27191890384734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 275.1977714423829, + 151.27191890384734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 272.1977714423829, + 151.27191890384734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 269.1977714423829, + 151.27191890384734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 266.1977714423829, + 151.27191890384734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 263.1977714423829, + 151.27191890384734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 260.1977714423829, + 151.27191890384734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 257.1977714423829, + 151.27191890384734, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 228.0, + 164.0, + 51.3126 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-26-46_88639634/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-26-46_88639634/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..52792adeb1e6066566e66481c2d10ff7cfd2d53d --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-26-46_88639634/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1091.2031598176006, + -368.8549005595239, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1092.7031598176006, + -366.2568243481706, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1094.2031598176006, + -363.6587481368173, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1095.7031598176006, + -361.06067192546396, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1097.2031598176006, + -358.46259571411065, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1098.7031598176006, + -355.86451950275733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1100.2031598176006, + -353.266443291404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1101.7031598176006, + -350.6683670800507, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1103.2031598176006, + -348.0702908686974, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1104.7031598176006, + -345.47221465734407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1106.2031598176006, + -342.87413844599075, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1107.7031598176006, + -340.27606223463744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1109.2031598176006, + -337.6779860232841, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1110.7031598176006, + -335.0799098119308, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1112.2031598176006, + -332.4818336005775, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1113.7031598176006, + -329.8837573892242, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1115.2031598176006, + -327.28568117787086, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1116.7031598176006, + -324.68760496651754, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1118.2031598176006, + -322.0895287551642, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1119.7031598176006, + -319.4914525438109, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1121.2031598176006, + -316.8933763324576, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1122.7031598176006, + -314.2953001211043, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1124.2031598176006, + -311.69722390975096, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1125.7031598176006, + -309.09914769839764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1127.2031598176006, + -306.5010714870443, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1127.2031598176006, + -306.5010714870443, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1127.2031598176006, + -303.5010714870443, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1127.2031598176006, + -300.5010714870443, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1127.2031598176006, + -297.5010714870443, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1127.2031598176006, + -294.5010714870443, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0, + -272.0, + 9.35903 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-27-40_1908681983/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-27-40_1908681983/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16204a0ed530bc52f4a179d052084b744ac54867 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-27-40_1908681983/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1964.3242423440104, + -184.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1964.3242423440104, + -181.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1964.3242423440104, + -178.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1964.3242423440104, + -175.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1964.3242423440104, + -172.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1964.3242423440104, + -169.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1964.3242423440104, + -166.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1964.3242423440104, + -163.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1964.3242423440104, + -160.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1964.3242423440104, + -157.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1964.3242423440104, + -154.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1964.3242423440104, + -151.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1964.3242423440104, + -148.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1964.3242423440104, + -145.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1964.3242423440104, + -142.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1964.3242423440104, + -139.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1964.3242423440104, + -136.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1964.3242423440104, + -133.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1964.3242423440104, + -130.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1964.3242423440104, + -127.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1964.3242423440104, + -124.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1964.3242423440104, + -121.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1964.3242423440104, + -118.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1964.3242423440104, + -115.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1964.3242423440104, + -112.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1964.3242423440104, + -109.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1964.3242423440104, + -106.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1964.3242423440104, + -103.9006399135746, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1964.3242423440104, + -103.9006399135746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1965.8242423440104, + -101.30256370222128, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1967.3242423440104, + -98.70448749086796, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1968.8242423440104, + -96.10641127951465, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1970.3242423440104, + -93.50833506816133, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1971.8242423440104, + -90.91025885680801, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1976.0, + -64.0, + 50.1663 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-28-39_1634296630/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-28-39_1634296630/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..35b25b4a63fae23ccb19147085467798e9babf98 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-28-39_1634296630/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 529.8167589916857, + -80.98943667441765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 529.8167589916857, + -83.98943667441765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 529.8167589916857, + -86.98943667441765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 529.8167589916857, + -89.98943667441765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 529.8167589916857, + -92.98943667441765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 529.8167589916857, + -95.98943667441765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 529.8167589916857, + -98.98943667441765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 529.8167589916857, + -101.98943667441765, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 529.8167589916857, + -101.98943667441765, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 529.8167589916857, + -101.98943667441765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 527.2186827803323, + -103.48943667441765, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 527.2186827803323, + -103.48943667441765, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 527.2186827803323, + -103.48943667441765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794906 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 527.2186827803323, + -106.48943667441765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 527.2186827803323, + -109.48943667441765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 527.2186827803323, + -112.48943667441765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 527.2186827803323, + -115.48943667441765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 527.2186827803323, + -118.48943667441765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 527.2186827803323, + -121.48943667441765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 527.2186827803323, + -124.48943667441765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 527.2186827803323, + -127.48943667441765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 527.2186827803323, + -130.48943667441765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 527.2186827803323, + -133.48943667441765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 527.2186827803323, + -136.48943667441765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 527.2186827803323, + -139.48943667441765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 527.2186827803323, + -142.48943667441765, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 527.2186827803323, + -142.48943667441765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 528.7186827803323, + -145.08751288577096, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 530.2186827803323, + -147.68558909712428, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 531.7186827803323, + -150.2836653084776, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 533.2186827803323, + -152.8817415198309, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 534.7186827803323, + -155.47981773118423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 536.2186827803323, + -158.07789394253754, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 537.7186827803323, + -160.67597015389086, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 539.2186827803323, + -163.27404636524417, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 540.7186827803323, + -165.8721225765975, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 542.2186827803323, + -168.4701987879508, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 543.7186827803323, + -171.06827499930412, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 545.2186827803323, + -173.66635121065744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 546.7186827803323, + -176.26442742201075, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 548.2186827803323, + -178.86250363336407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 549.7186827803323, + -181.4605798447174, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 551.2186827803323, + -184.0586560560707, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 552.7186827803323, + -186.65673226742402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 554.2186827803323, + -189.25480847877733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 555.7186827803323, + -191.85288469013065, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 557.2186827803323, + -194.45096090148397, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 558.7186827803323, + -197.04903711283728, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 564.0, + -220.0, + 16.8381 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-30-5_512976554/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-30-5_512976554/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1b06add1945a8e4b22db130016cd54e8143ec788 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-30-5_512976554/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 419.6699015331028, + -190.65388290521173, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 421.1699015331028, + -188.05580669385841, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 422.6699015331028, + -185.4577304825051, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 424.1699015331028, + -182.85965427115178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 425.6699015331028, + -180.26157805979847, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 427.1699015331028, + -177.66350184844515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 428.6699015331028, + -175.06542563709183, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 430.1699015331028, + -172.46734942573852, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 431.6699015331028, + -169.8692732143852, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 433.1699015331028, + -167.2711970030319, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 434.6699015331028, + -164.67312079167857, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 436.1699015331028, + -162.07504458032525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 437.6699015331028, + -159.47696836897194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 439.1699015331028, + -156.87889215761862, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 440.6699015331028, + -154.2808159462653, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 442.1699015331028, + -151.682739734912, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 443.6699015331028, + -149.08466352355867, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 445.1699015331028, + -146.48658731220536, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 446.6699015331028, + -143.88851110085204, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 448.1699015331028, + -141.29043488949873, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 449.6699015331028, + -138.6923586781454, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 451.1699015331028, + -136.0942824667921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 452.6699015331028, + -133.49620625543878, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 452.6699015331028, + -133.49620625543878, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 452.6699015331028, + -130.49620625543878, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 452.6699015331028, + -127.49620625543878, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 452.6699015331028, + -124.49620625543878, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 452.6699015331028, + -121.49620625543878, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 452.6699015331028, + -118.49620625543878, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 452.6699015331028, + -115.49620625543878, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.0, + -88.0, + 31.8125 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-32-3_531900034/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-32-3_531900034/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9423ab30e44b60c16e2cdb72e2f545610dc50fa1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-32-3_531900034/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1414.8176844449324, + 208.63165337156315, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1416.3176844449324, + 211.22972958291646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1417.8176844449324, + 213.82780579426978, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1419.3176844449324, + 216.4258820056231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1420.8176844449324, + 219.0239582169764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1422.3176844449324, + 221.62203442832973, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1423.8176844449324, + 224.22011063968304, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1425.3176844449324, + 226.81818685103636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1426.8176844449324, + 229.41626306238967, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1428.3176844449324, + 232.014339273743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1429.8176844449324, + 234.6124154850963, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1431.3176844449324, + 237.21049169644962, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1432.8176844449324, + 239.80856790780294, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1434.3176844449324, + 242.40664411915625, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1435.8176844449324, + 245.00472033050957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1437.3176844449324, + 247.6027965418629, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1438.8176844449324, + 250.2008727532162, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1440.3176844449324, + 252.79894896456952, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1441.8176844449324, + 255.39702517592283, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1443.3176844449324, + 257.9951013872761, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196593 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1444.8176844449324, + 260.59317759862944, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1446.3176844449324, + 263.19125380998275, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1447.8176844449324, + 265.78933002133607, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1472.0, + 304.0, + 103.299 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-32-55_40658094/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-32-55_40658094/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4cb0eb18dfea0dbbc60df951c86701d697c78c11 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-32-55_40658094/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1365.085178720014, + 438.5113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1368.085178720014, + 438.5113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1371.085178720014, + 438.5113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1374.085178720014, + 438.5113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1377.085178720014, + 438.5113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1380.085178720014, + 438.5113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1383.085178720014, + 438.5113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1386.085178720014, + 438.5113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1389.085178720014, + 438.5113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1392.085178720014, + 438.5113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1395.085178720014, + 438.5113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1398.085178720014, + 438.5113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1401.085178720014, + 438.5113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1404.085178720014, + 438.5113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1407.085178720014, + 438.5113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1410.085178720014, + 438.5113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1413.085178720014, + 438.5113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1416.085178720014, + 438.5113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1419.085178720014, + 438.5113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1422.085178720014, + 438.5113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1425.085178720014, + 438.5113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1428.085178720014, + 438.5113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1431.085178720014, + 438.5113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1434.085178720014, + 438.5113806897898, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1434.085178720014, + 438.5113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1436.6832549313674, + 440.0113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1439.2813311427208, + 441.5113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1441.8794073540741, + 443.0113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1444.4774835654275, + 444.5113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1447.075559776781, + 446.0113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1449.6736359881343, + 447.5113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1452.2717121994876, + 449.0113806897898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1454.869788410841, + 450.5113806897898, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1512.0, + 460.0, + 122.069 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-34-1_365862802/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-34-1_365862802/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d506b4eb4a2e3b2466693ebd71703489e53db292 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-34-1_365862802/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1037.0052831869787, + 620.1083340697203, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1038.5052831869787, + 622.7064102810737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1040.0052831869787, + 625.304486492427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1041.5052831869787, + 627.9025627037804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1043.0052831869787, + 630.5006389151338, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1044.5052831869787, + 633.0987151264871, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1046.0052831869787, + 635.6967913378405, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1047.5052831869787, + 638.2948675491939, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1049.0052831869787, + 640.8929437605473, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1050.5052831869787, + 643.4910199719006, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1052.0052831869787, + 646.089096183254, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1053.5052831869787, + 648.6871723946074, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1055.0052831869787, + 651.2852486059608, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1056.5052831869787, + 653.8833248173141, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1058.0052831869787, + 656.4814010286675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1059.5052831869787, + 659.0794772400209, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1061.0052831869787, + 661.6775534513743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1062.5052831869787, + 664.2756296627276, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1064.0052831869787, + 666.873705874081, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1065.5052831869787, + 669.4717820854344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1067.0052831869787, + 672.0698582967877, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1067.0052831869787, + 672.0698582967877, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1069.603359398332, + 673.5698582967877, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1072.2014356096854, + 675.0698582967877, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1092.0, + 708.0, + 64.9253 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-38-18_1654844049/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-38-18_1654844049/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af86344272b2a60cc66a8f564ebffeb006c84f3f --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-38-18_1654844049/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1069.3049023319184, + 874.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1071.9029785432717, + 873.4779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1074.501054754625, + 871.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1077.0991309659785, + 870.4779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1079.6972071773318, + 868.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1082.2952833886852, + 867.4779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1084.8933596000386, + 865.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1087.491435811392, + 864.4779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1090.0895120227453, + 862.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1092.6875882340987, + 861.4779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1095.285664445452, + 859.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1097.8837406568055, + 858.4779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1100.4818168681588, + 856.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1103.0798930795122, + 855.4779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1105.6779692908656, + 853.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1108.276045502219, + 852.4779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1110.8741217135723, + 850.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1113.4721979249257, + 849.4779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1116.070274136279, + 847.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1118.6683503476324, + 846.4779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1121.2664265589858, + 844.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1123.8645027703392, + 843.4779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1126.4625789816926, + 841.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1129.060655193046, + 840.4779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1131.6587314043993, + 838.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1134.2568076157527, + 837.4779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1136.854883827106, + 835.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1139.4529600384594, + 834.4779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1142.0510362498128, + 832.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1144.6491124611662, + 831.4779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1147.2471886725195, + 829.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1149.845264883873, + 828.4779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1152.4433410952263, + 826.9779914688359, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1152.4433410952263, + 826.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1155.4433410952263, + 826.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1158.4433410952263, + 826.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1161.4433410952263, + 826.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1164.4433410952263, + 826.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1167.4433410952263, + 826.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1170.4433410952263, + 826.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1173.4433410952263, + 826.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1176.4433410952263, + 826.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1179.4433410952263, + 826.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1182.4433410952263, + 826.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1185.4433410952263, + 826.9779914688359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1188.4433410952263, + 826.9779914688359, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1208.0, + 820.0, + 17.114 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-40-48_2008532428/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-40-48_2008532428/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab207ab98c38de0269c37a94442443b2106364ea --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-40-48_2008532428/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1908.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1911.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1914.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1917.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1920.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1923.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1926.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1929.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1932.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1935.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1938.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1941.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1944.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1947.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1950.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1953.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1956.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1959.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1962.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1965.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1968.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1971.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1974.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1977.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1980.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1983.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1986.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1989.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1992.6470502632726, + 97.33709910992874, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2012.0, + 96.0, + 2.4858 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-44-50_106242869/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-44-50_106242869/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..220a152dcb5b2b3f430c3ff6065591fd6289594b --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-44-50_106242869/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 681.9040129717831, + -195.89888518599216, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 681.9040129717831, + -192.89888518599216, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 681.9040129717831, + -189.89888518599216, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 681.9040129717831, + -186.89888518599216, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 681.9040129717831, + -183.89888518599216, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 681.9040129717831, + -180.89888518599216, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 681.9040129717831, + -177.89888518599216, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 681.9040129717831, + -174.89888518599216, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 681.9040129717831, + -171.89888518599216, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 681.9040129717831, + -168.89888518599216, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 681.9040129717831, + -165.89888518599216, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 681.9040129717831, + -162.89888518599216, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 681.9040129717831, + -159.89888518599216, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 681.9040129717831, + -156.89888518599216, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 681.9040129717831, + -153.89888518599216, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 681.9040129717831, + -150.89888518599216, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 681.9040129717831, + -147.89888518599216, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 681.9040129717831, + -144.89888518599216, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 681.9040129717831, + -141.89888518599216, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 681.9040129717831, + -138.89888518599216, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 681.9040129717831, + -135.89888518599216, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 681.9040129717831, + -135.89888518599216, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 683.4040129717831, + -133.30080897463884, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 684.9040129717831, + -130.70273276328552, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 686.4040129717831, + -128.1046565519322, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 687.9040129717831, + -125.50658034057889, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 689.4040129717831, + -122.90850412922558, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 690.9040129717831, + -120.31042791787226, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 692.4040129717831, + -117.71235170651894, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 693.9040129717831, + -115.11427549516563, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 695.4040129717831, + -112.51619928381231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 696.9040129717831, + -109.918123072459, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 698.4040129717831, + -107.32004686110568, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 699.9040129717831, + -104.72197064975236, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 701.4040129717831, + -102.12389443839905, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 702.9040129717831, + -99.52581822704573, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 704.4040129717831, + -96.92774201569242, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 708.0, + -68.0, + 2.61985 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-46-29_54449299/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-46-29_54449299/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cf248da12c6b30abbf156747a6cad6c88b9e7985 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-46-29_54449299/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1856.666224422976, + 279.2205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1859.666224422976, + 279.2205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1862.666224422976, + 279.2205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1865.666224422976, + 279.2205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1868.666224422976, + 279.2205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1871.666224422976, + 279.2205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1874.666224422976, + 279.2205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1877.666224422976, + 279.2205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1880.666224422976, + 279.2205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1883.666224422976, + 279.2205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1886.666224422976, + 279.2205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1889.666224422976, + 279.2205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1892.666224422976, + 279.2205952938717, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1892.666224422976, + 279.2205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1895.2643006343294, + 280.7205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1897.8623768456828, + 282.2205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1900.4604530570361, + 283.7205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1903.0585292683895, + 285.2205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1905.656605479743, + 286.7205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1908.2546816910963, + 288.2205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1910.8527579024496, + 289.7205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1913.450834113803, + 291.2205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1916.0489103251564, + 292.7205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1918.6469865365098, + 294.2205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1921.2450627478631, + 295.7205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1923.8431389592165, + 297.2205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1926.4412151705699, + 298.7205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1929.0392913819232, + 300.2205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1931.6373675932766, + 301.7205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1934.23544380463, + 303.2205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1936.8335200159834, + 304.7205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1939.4315962273367, + 306.2205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1942.02967243869, + 307.7205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1944.6277486500435, + 309.2205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1947.2258248613969, + 310.7205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1949.8239010727502, + 312.2205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1952.4219772841036, + 313.7205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1955.020053495457, + 315.2205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1957.6181297068104, + 316.7205952938717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1960.2162059181637, + 318.2205952938717, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1992.0, + 328.0, + 3.01289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_15-57-25_304089172/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_15-57-25_304089172/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..139dd2f59cf9f82754a2e877ffb60dda8f784804 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_15-57-25_304089172/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 35.30275382230509, + 455.2372727648229, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 33.80275382230509, + 452.63919655346956, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 32.30275382230509, + 450.04112034211624, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 30.802753822305093, + 447.4430441307629, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 29.302753822305093, + 444.8449679194096, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 27.802753822305093, + 442.2468917080563, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 26.302753822305093, + 439.648815496703, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 24.802753822305093, + 437.05073928534966, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 23.302753822305093, + 434.45266307399635, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 21.802753822305093, + 431.85458686264303, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 20.302753822305093, + 429.2565106512897, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 18.802753822305093, + 426.6584344399364, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 17.302753822305093, + 424.0603582285831, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 15.802753822305093, + 421.46228201722977, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 14.302753822305093, + 418.86420580587645, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 12.802753822305093, + 416.26612959452314, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 11.302753822305093, + 413.6680533831698, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 9.802753822305093, + 411.0699771718165, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 8.302753822305093, + 408.4719009604632, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 6.802753822305093, + 405.8738247491099, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 5.302753822305094, + 403.27574853775656, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3.802753822305095, + 400.67767232640324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2.302753822305096, + 398.0795961150499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 0.8027538223050967, + 395.4815199036966, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 0.8027538223050967, + 395.4815199036966, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1.7953223890482193, + 393.9815199036966, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -4.393398600401535, + 392.4815199036966, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -36.0, + 344.0, + 63.6789 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_15-57-8_1540383426/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_15-57-8_1540383426/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0f023ef886f4de132bd54f586704662f22a4aaaa --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_15-57-8_1540383426/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1382.7688559652606, + 487.8428925063682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1385.7688559652606, + 487.8428925063682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1388.7688559652606, + 487.8428925063682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1391.7688559652606, + 487.8428925063682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1394.7688559652606, + 487.8428925063682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1397.7688559652606, + 487.8428925063682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1400.7688559652606, + 487.8428925063682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1403.7688559652606, + 487.8428925063682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1406.7688559652606, + 487.8428925063682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1409.7688559652606, + 487.8428925063682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1412.7688559652606, + 487.8428925063682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1415.7688559652606, + 487.8428925063682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1418.7688559652606, + 487.8428925063682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1421.7688559652606, + 487.8428925063682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1424.7688559652606, + 487.8428925063682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1427.7688559652606, + 487.8428925063682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1430.7688559652606, + 487.8428925063682, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1430.7688559652606, + 487.8428925063682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1433.366932176614, + 486.3428925063682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1435.9650083879674, + 484.8428925063682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1438.5630845993207, + 483.3428925063682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1441.1611608106741, + 481.8428925063682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1443.7592370220275, + 480.3428925063682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1446.3573132333809, + 478.8428925063682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1448.9553894447342, + 477.3428925063682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1451.5534656560876, + 475.8428925063682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1454.151541867441, + 474.3428925063682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1456.7496180787944, + 472.8428925063682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1459.3476942901477, + 471.3428925063682, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1512.0, + 460.0, + 122.069 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-1-21_1801979802/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-1-21_1801979802/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f62fad02640d30ad157f5711cb82c650054394e5 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-1-21_1801979802/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1714.5621624944226, + 91.83281660594425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1711.9640862830693, + 93.33281660594425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1709.366010071716, + 94.83281660594425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1706.7679338603625, + 96.33281660594425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1704.1698576490091, + 97.83281660594425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1701.5717814376558, + 99.33281660594425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1698.9737052263024, + 100.83281660594425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1696.375629014949, + 102.33281660594425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1693.7775528035957, + 103.83281660594425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1691.1794765922423, + 105.33281660594425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1688.581400380889, + 106.83281660594425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1685.9833241695355, + 108.33281660594425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1683.3852479581822, + 109.83281660594425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1680.7871717468288, + 111.33281660594425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1678.1890955354754, + 112.83281660594425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1675.591019324122, + 114.33281660594425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1672.9929431127687, + 115.83281660594425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1670.3948669014153, + 117.33281660594425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1667.796790690062, + 118.83281660594425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1665.1987144787086, + 120.33281660594425, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1665.1987144787086, + 120.33281660594425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1663.6987144787086, + 122.93089281729756, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1662.1987144787086, + 125.52896902865088, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1660.6987144787086, + 128.12704524000418, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393198 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1659.1987144787086, + 130.7251214513575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1657.6987144787086, + 133.3231976627108, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1657.6987144787086, + 133.3231976627108, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1655.1006382673552, + 134.8231976627108, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1652.5025620560018, + 136.3231976627108, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1612.0, + 164.0, + 123.13 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-14-35_939819582/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-14-35_939819582/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..49ba86c432b8ece374f764afae5719a9fcbb5a4c --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-14-35_939819582/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1405.3615233675732, + -200.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1408.3615233675732, + -200.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1411.3615233675732, + -200.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1414.3615233675732, + -200.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1417.3615233675732, + -200.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1420.3615233675732, + -200.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1423.3615233675732, + -200.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1426.3615233675732, + -200.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1429.3615233675732, + -200.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1432.3615233675732, + -200.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1435.3615233675732, + -200.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1438.3615233675732, + -200.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1441.3615233675732, + -200.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1444.3615233675732, + -200.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1447.3615233675732, + -200.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1450.3615233675732, + -200.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1453.3615233675732, + -200.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1456.3615233675732, + -200.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1459.3615233675732, + -200.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1462.3615233675732, + -200.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1465.3615233675732, + -200.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1468.3615233675732, + -200.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1471.3615233675732, + -200.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1474.3615233675732, + -200.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1477.3615233675732, + -200.15977553367742, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1477.3615233675732, + -200.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1479.9595995789266, + -198.65977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1482.55767579028, + -197.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1485.1557520016333, + -195.65977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1487.7538282129867, + -194.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1490.35190442434, + -192.65977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1492.9499806356935, + -191.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1495.5480568470468, + -189.65977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1498.1461330584002, + -188.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1500.7442092697536, + -186.65977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1503.342285481107, + -185.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1505.9403616924603, + -183.65977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1508.5384379038137, + -182.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1511.136514115167, + -180.65977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1513.7345903265204, + -179.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1516.3326665378738, + -177.65977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1518.9307427492272, + -176.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1521.5288189605806, + -174.65977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1524.126895171934, + -173.15977553367742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1526.7249713832873, + -171.65977553367742, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1548.0, + -168.0, + 5.86359 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-19-55_1474612399/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-19-55_1474612399/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..320a8b65510c404a50dc6a7529086b901ef9dedc --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-19-55_1474612399/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1978.188770829941, + 242.21746155003387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1975.5906946185876, + 240.71746155003387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1972.9926184072342, + 239.21746155003387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1970.3945421958808, + 237.71746155003387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1967.7964659845275, + 236.21746155003387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1965.198389773174, + 234.71746155003387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1962.6003135618207, + 233.21746155003387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1960.0022373504673, + 231.71746155003387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1957.404161139114, + 230.21746155003387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1954.8060849277606, + 228.71746155003387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1952.2080087164072, + 227.21746155003387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1949.6099325050538, + 225.71746155003387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1947.0118562937005, + 224.21746155003387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1944.413780082347, + 222.71746155003387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1941.8157038709937, + 221.21746155003387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1939.2176276596404, + 219.71746155003387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1936.619551448287, + 218.21746155003387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1934.0214752369336, + 216.71746155003387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1931.4233990255802, + 215.21746155003387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1928.8253228142269, + 213.71746155003387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1926.2272466028735, + 212.21746155003387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1923.6291703915201, + 210.71746155003387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1921.0310941801667, + 209.21746155003387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1918.4330179688134, + 207.71746155003387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1915.83494175746, + 206.21746155003387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1913.2368655461066, + 204.71746155003387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1910.6387893347533, + 203.21746155003387, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1910.6387893347533, + 203.21746155003387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1909.1387893347533, + 200.61938533868056, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1907.6387893347533, + 198.02130912732724, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1906.1387893347533, + 195.42323291597393, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1868.0, + 168.0, + 104.903 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-22-55_1956297539/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-22-55_1956297539/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af9f58dae8ee364caab4231a4b89f8ca6c9be1b5 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-22-55_1956297539/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1913.4636416947158, + 560.0811111339067, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1914.9636416947158, + 562.6791873452601, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1916.4636416947158, + 565.2772635566134, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1917.9636416947158, + 567.8753397679668, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1919.4636416947158, + 570.4734159793202, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1920.9636416947158, + 573.0714921906736, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1922.4636416947158, + 575.6695684020269, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1923.9636416947158, + 578.2676446133803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1925.4636416947158, + 580.8657208247337, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1926.9636416947158, + 583.463797036087, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1928.4636416947158, + 586.0618732474404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1929.9636416947158, + 588.6599494587938, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1931.4636416947158, + 591.2580256701472, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1932.9636416947158, + 593.8561018815005, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1934.4636416947158, + 596.4541780928539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1935.9636416947158, + 599.0522543042073, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1937.4636416947158, + 601.6503305155607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1938.9636416947158, + 604.248406726914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1940.4636416947158, + 606.8464829382674, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1941.9636416947158, + 609.4445591496208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1943.4636416947158, + 612.0426353609741, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1944.9636416947158, + 614.6407115723275, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1946.4636416947158, + 617.2387877836809, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1947.9636416947158, + 619.8368639950343, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1949.4636416947158, + 622.4349402063876, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1950.9636416947158, + 625.033016417741, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1952.4636416947158, + 627.6310926290944, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1952.4636416947158, + 627.6310926290944, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1955.0617179060691, + 629.1310926290944, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1957.6597941174225, + 630.6310926290944, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1976.0, + 660.0, + 105.319 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-32-17_631704567/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-32-17_631704567/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d6e5070eebe61b7dec6155c8d86e224fa75d80a5 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-32-17_631704567/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1058.3143920294492, + -357.93151167152234, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1059.8143920294492, + -355.333435460169, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1061.3143920294492, + -352.7353592488157, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1062.8143920294492, + -350.1372830374624, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1064.3143920294492, + -347.5392068261091, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1065.8143920294492, + -344.94113061475576, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1067.3143920294492, + -342.34305440340245, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1068.8143920294492, + -339.74497819204913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1070.3143920294492, + -337.1469019806958, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1071.8143920294492, + -334.5488257693425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1073.3143920294492, + -331.9507495579892, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1074.8143920294492, + -329.35267334663587, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1076.3143920294492, + -326.75459713528255, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1077.8143920294492, + -324.15652092392924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1079.3143920294492, + -321.5584447125759, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1080.8143920294492, + -318.9603685012226, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1082.3143920294492, + -316.3622922898693, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1083.8143920294492, + -313.764216078516, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1085.3143920294492, + -311.16613986716266, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1085.3143920294492, + -311.16613986716266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1087.9124682408026, + -309.66613986716266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1090.510544452156, + -308.16613986716266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1093.1086206635093, + -306.66613986716266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1095.7066968748627, + -305.16613986716266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1098.304773086216, + -303.66613986716266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1100.9028492975694, + -302.16613986716266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1103.5009255089228, + -300.66613986716266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1106.0990017202762, + -299.16613986716266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1108.6970779316296, + -297.66613986716266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1111.295154142983, + -296.16613986716266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1113.8932303543363, + -294.66613986716266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1116.4913065656897, + -293.16613986716266, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0, + -272.0, + 9.35903 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-38-49_1631518149/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-38-49_1631518149/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..13dc6a14bc248232ea387151ffcc9c4c16bcbe7a --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-38-49_1631518149/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1974.314823219842, + 611.8084049594295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1974.314823219842, + 608.8084049594295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1974.314823219842, + 605.8084049594295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1974.314823219842, + 602.8084049594295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1974.314823219842, + 599.8084049594295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1974.314823219842, + 596.8084049594295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1974.314823219842, + 593.8084049594295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1974.314823219842, + 590.8084049594295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1974.314823219842, + 587.8084049594295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1974.314823219842, + 584.8084049594295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1974.314823219842, + 581.8084049594295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1974.314823219842, + 578.8084049594295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1974.314823219842, + 575.8084049594295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1974.314823219842, + 572.8084049594295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1974.314823219842, + 569.8084049594295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1974.314823219842, + 566.8084049594295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1974.314823219842, + 563.8084049594295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1974.314823219842, + 560.8084049594295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1974.314823219842, + 557.8084049594295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1974.314823219842, + 554.8084049594295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1974.314823219842, + 551.8084049594295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1974.314823219842, + 548.8084049594295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1974.314823219842, + 545.8084049594295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1974.314823219842, + 542.8084049594295, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1974.314823219842, + 542.8084049594295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1975.814823219842, + 540.2103287480761, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1977.314823219842, + 537.6122525367227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1978.814823219842, + 535.0141763253694, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1980.314823219842, + 532.416100114016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1981.814823219842, + 529.8180239026626, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1983.314823219842, + 527.2199476913092, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1984.814823219842, + 524.6218714799559, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1986.314823219842, + 522.0237952686025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1987.814823219842, + 519.4257190572491, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1987.814823219842, + 519.4257190572491, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1987.814823219842, + 516.4257190572491, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1987.814823219842, + 513.4257190572491, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1987.814823219842, + 510.4257190572491, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1996.0, + 468.0, + 64.6317 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-42-56_2147469841/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-42-56_2147469841/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c19eb38d008072bf9c5065966471b0e36a086bca --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-42-56_2147469841/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -119.38818020892276, + 226.14344925096032, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -117.88818020892276, + 228.74152546231363, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -116.38818020892276, + 231.33960167366695, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -114.88818020892276, + 233.93767788502026, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -113.38818020892276, + 236.53575409637358, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -111.88818020892276, + 239.1338303077269, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -110.38818020892276, + 241.7319065190802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -108.88818020892276, + 244.32998273043353, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -107.38818020892276, + 246.92805894178684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -105.88818020892276, + 249.52613515314016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -104.38818020892276, + 252.12421136449348, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -102.88818020892276, + 254.7222875758468, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -101.38818020892276, + 257.3203637872001, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -99.88818020892276, + 259.9184399985534, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -98.38818020892276, + 262.51651620990674, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -96.88818020892276, + 265.11459242126006, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -95.38818020892276, + 267.7126686326134, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -93.88818020892276, + 270.3107448439667, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -92.38818020892276, + 272.90882105532, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -90.88818020892276, + 275.5068972666733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -89.38818020892276, + 278.10497347802664, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -87.88818020892276, + 280.70304968937995, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -86.38818020892276, + 283.30112590073327, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -84.88818020892276, + 285.8992021120866, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -83.38818020892276, + 288.4972783234399, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -81.88818020892276, + 291.0953545347932, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -80.38818020892276, + 293.69343074614653, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -78.88818020892276, + 296.29150695749985, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -77.38818020892276, + 298.88958316885316, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -75.88818020892276, + 301.4876593802065, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -74.38818020892276, + 304.0857355915598, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -72.88818020892276, + 306.6838118029131, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -72.88818020892276, + 306.6838118029131, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -70.29010399756945, + 308.1838118029131, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -67.69202778621613, + 309.6838118029131, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -65.09395157486281, + 311.1838118029131, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -62.4958753635095, + 312.6838118029131, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -59.89779915215618, + 314.1838118029131, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -57.299722940802866, + 315.6838118029131, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -54.70164672944955, + 317.1838118029131, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -36.0, + 344.0, + 63.6789 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-45-20_8936987/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-45-20_8936987/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..94968bf98dcd621e8e4109b41c159d3c961e8450 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-45-20_8936987/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1362.6328850412272, + 482.29740597681666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1359.6328850412272, + 482.29740597681666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1356.6328850412272, + 482.29740597681666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1353.6328850412272, + 482.29740597681666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1350.6328850412272, + 482.29740597681666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1347.6328850412272, + 482.29740597681666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1344.6328850412272, + 482.29740597681666, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1344.6328850412272, + 482.29740597681666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1342.0348088298738, + 480.79740597681666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1339.4367326185204, + 479.29740597681666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1336.838656407167, + 477.79740597681666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1334.2405801958137, + 476.29740597681666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1331.6425039844603, + 474.79740597681666, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1331.6425039844603, + 474.79740597681666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1328.6425039844603, + 474.79740597681666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1325.6425039844603, + 474.79740597681666, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1236.0, + 456.0, + 148.475 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-51-22_1884661237/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-51-22_1884661237/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..308b9c0fe5830ecc4b5f0986e5a6f9deb0c5960a --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-51-22_1884661237/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1225.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1222.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1219.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1216.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1213.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1210.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1207.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1204.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1201.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1198.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1195.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1192.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1189.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1186.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1183.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1180.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1177.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1174.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1171.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1168.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1165.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1162.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1159.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1156.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1153.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1150.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1147.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1144.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1144.6082345870059, + 913.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1142.0101583756525, + 912.1622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1139.4120821642991, + 910.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1136.8140059529458, + 909.1622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1134.2159297415924, + 907.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1131.617853530239, + 906.1622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1129.0197773188856, + 904.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1126.4217011075323, + 903.1622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1123.823624896179, + 901.6622814652469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1121.2255486848255, + 900.1622814652469, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1096.0, + 896.0, + 34.2564 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-57-10_165344818/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-57-10_165344818/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4172d039decec6ca5ee6bc11f2b92c41917cff22 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-57-10_165344818/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1871.907080890608, + 699.0336061120818, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1873.407080890608, + 701.6316823234351, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1874.907080890608, + 704.2297585347885, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1876.407080890608, + 706.8278347461419, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1877.907080890608, + 709.4259109574953, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1879.407080890608, + 712.0239871688486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1880.907080890608, + 714.622063380202, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1882.407080890608, + 717.2201395915554, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1883.907080890608, + 719.8182158029088, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1885.407080890608, + 722.4162920142621, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1886.907080890608, + 725.0143682256155, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1888.407080890608, + 727.6124444369689, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1889.907080890608, + 730.2105206483222, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1891.407080890608, + 732.8085968596756, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1892.907080890608, + 735.406673071029, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1894.407080890608, + 738.0047492823824, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1895.907080890608, + 740.6028254937357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1897.407080890608, + 743.2009017050891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1898.907080890608, + 745.7989779164425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1900.407080890608, + 748.3970541277959, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1901.907080890608, + 750.9951303391492, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1936.0, + 812.0, + 160.906 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-59-4_680466996/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-59-4_680466996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d4faf8c3a2ae86961c74a045408f9bdef09bfa0e --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-59-4_680466996/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1119.8196946285382, + 1042.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1119.8196946285382, + 1039.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1119.8196946285382, + 1036.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1119.8196946285382, + 1033.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1119.8196946285382, + 1030.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1119.8196946285382, + 1027.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1119.8196946285382, + 1024.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1119.8196946285382, + 1021.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1119.8196946285382, + 1018.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1119.8196946285382, + 1015.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1119.8196946285382, + 1012.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1119.8196946285382, + 1009.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1119.8196946285382, + 1006.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1119.8196946285382, + 1003.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1119.8196946285382, + 1000.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1119.8196946285382, + 997.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1119.8196946285382, + 994.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1119.8196946285382, + 991.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1119.8196946285382, + 988.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1119.8196946285382, + 985.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1119.8196946285382, + 982.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1119.8196946285382, + 979.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1119.8196946285382, + 976.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1119.8196946285382, + 973.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1119.8196946285382, + 970.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1119.8196946285382, + 967.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1119.8196946285382, + 964.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1119.8196946285382, + 961.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1119.8196946285382, + 958.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1119.8196946285382, + 955.5682486572946, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1119.8196946285382, + 955.5682486572946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1118.3196946285382, + 952.9701724459412, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1116.8196946285382, + 950.3720962345878, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1115.3196946285382, + 947.7740200232345, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1113.8196946285382, + 945.1759438118811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1112.3196946285382, + 942.5778676005277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1110.8196946285382, + 939.9797913891744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1109.3196946285382, + 937.381715177821, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1107.8196946285382, + 934.7836389664676, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1106.3196946285382, + 932.1855627551142, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1104.8196946285382, + 929.5874865437609, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1103.3196946285382, + 926.9894103324075, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1101.8196946285382, + 924.3913341210541, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1100.3196946285382, + 921.7932579097007, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1098.8196946285382, + 919.1951816983474, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1097.3196946285382, + 916.597105486994, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1097.3196946285382, + 916.597105486994, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1097.3196946285382, + 916.597105486994, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1098.8196946285382, + 913.9990292756406, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965883 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1096.0, + 896.0, + 34.2564 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-11-51_1569229320/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-11-51_1569229320/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e81f48cc5cf79c7d9a91284826190eb6e08f6f4a --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-11-51_1569229320/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 795.0613133719744, + 592.3663383993658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 795.0613133719744, + 589.3663383993658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 795.0613133719744, + 586.3663383993658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 795.0613133719744, + 583.3663383993658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 795.0613133719744, + 580.3663383993658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 795.0613133719744, + 577.3663383993658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 795.0613133719744, + 574.3663383993658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 795.0613133719744, + 571.3663383993658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 795.0613133719744, + 568.3663383993658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 795.0613133719744, + 565.3663383993658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 795.0613133719744, + 562.3663383993658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 795.0613133719744, + 559.3663383993658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 795.0613133719744, + 556.3663383993658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 795.0613133719744, + 553.3663383993658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 795.0613133719744, + 550.3663383993658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 795.0613133719744, + 547.3663383993658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 795.0613133719744, + 544.3663383993658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 795.0613133719744, + 541.3663383993658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 795.0613133719744, + 538.3663383993658, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 795.0613133719744, + 538.3663383993658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 796.5613133719744, + 535.7682621880124, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 798.0613133719744, + 533.170185976659, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 799.5613133719744, + 530.5721097653056, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 801.0613133719744, + 527.9740335539523, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 802.5613133719744, + 525.3759573425989, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 804.0613133719744, + 522.7778811312455, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 805.5613133719744, + 520.1798049198921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 807.0613133719744, + 517.5817287085388, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 808.5613133719744, + 514.9836524971854, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 810.0613133719744, + 512.385576285832, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 811.5613133719744, + 509.7875000744787, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 820.0, + 468.0, + 126.263 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-13-30_1470503465/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-13-30_1470503465/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9005eed51946934a2376084ec0f7883557f745ef --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-13-30_1470503465/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -43.75308743935761, + 71.05734728062893, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -42.25308743935761, + 68.45927106927562, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -40.75308743935761, + 65.8611948579223, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -39.25308743935761, + 63.263118646568984, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -37.75308743935761, + 60.66504243521567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -36.25308743935761, + 58.06696622386235, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -34.75308743935761, + 55.468890012509036, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -33.25308743935761, + 52.87081380115572, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -31.753087439357607, + 50.272737589802404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -30.253087439357607, + 47.67466137844909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -28.753087439357607, + 45.07658516709577, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -27.253087439357607, + 42.478508955742456, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -25.753087439357607, + 39.88043274438914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -24.253087439357607, + 37.28235653303582, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -22.753087439357607, + 34.68428032168251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -21.253087439357607, + 32.08620411032919, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -19.753087439357607, + 29.488127898975875, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -18.253087439357607, + 26.89005168762256, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -16.753087439357607, + 24.291975476269243, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -15.253087439357607, + 21.693899264915927, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -13.753087439357607, + 19.09582305356261, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -12.253087439357607, + 16.497746842209295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -10.753087439357607, + 13.89967063085598, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -9.253087439357607, + 11.301594419502663, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -7.753087439357607, + 8.703518208149347, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -6.253087439357607, + 6.105441996796031, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -4.753087439357607, + 3.5073657854427154, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -3.2530874393576066, + 0.9092895740893994, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1.7530874393576061, + -1.6887866372639166, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -0.2530874393576057, + -4.286862848617233, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1.2469125606423948, + -6.884939059970549, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2.746912560642395, + -9.483015271323865, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4.246912560642396, + -12.08109148267718, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 5.7469125606423965, + -14.679167694030497, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 20.0, + -40.0, + 31.11 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-18-40_707900973/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-18-40_707900973/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8369e2d4d89d2b492f157a83db87785a9f1a9231 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-18-40_707900973/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1361.0117213899587, + 727.4006105247353, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1362.5117213899587, + 729.9986867360885, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1364.0117213899587, + 732.5967629474419, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1365.5117213899587, + 735.1948391587953, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1367.0117213899587, + 737.7929153701486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1368.5117213899587, + 740.390991581502, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1370.0117213899587, + 742.9890677928554, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1371.5117213899587, + 745.5871440042088, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1373.0117213899587, + 748.1852202155621, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1374.5117213899587, + 750.7832964269155, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1376.0117213899587, + 753.3813726382689, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1377.5117213899587, + 755.9794488496223, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1379.0117213899587, + 758.5775250609756, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1380.5117213899587, + 761.175601272329, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1380.5117213899587, + 761.175601272329, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1383.109797601312, + 762.675601272329, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1385.7078738126654, + 764.175601272329, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1388.3059500240188, + 765.675601272329, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1390.9040262353722, + 767.175601272329, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1393.5021024467255, + 768.675601272329, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1396.100178658079, + 770.175601272329, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1398.6982548694323, + 771.675601272329, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.0, + 808.0, + 102.413 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-20-21_404158660/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-20-21_404158660/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..abf474c43b357cfaba55c8fb88454416274f7d87 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-20-21_404158660/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 801.0853901048464, + -122.91924176387423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 798.4873138934931, + -121.41924176387423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 795.8892376821398, + -119.91924176387423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 793.2911614707864, + -118.41924176387423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 790.693085259433, + -116.91924176387423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 788.0950090480796, + -115.41924176387423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 785.4969328367263, + -113.91924176387423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 782.8988566253729, + -112.41924176387423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 780.3007804140195, + -110.91924176387423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 777.7027042026662, + -109.41924176387423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 775.1046279913128, + -107.91924176387423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 772.5065517799594, + -106.41924176387423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 769.908475568606, + -104.91924176387423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 767.3103993572527, + -103.41924176387423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 764.7123231458993, + -101.91924176387423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 762.1142469345459, + -100.41924176387423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 759.5161707231925, + -98.91924176387423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 756.9180945118392, + -97.41924176387423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 754.3200183004858, + -95.91924176387423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 751.7219420891324, + -94.41924176387423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 749.123865877779, + -92.91924176387423, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 708.0, + -68.0, + 2.61985 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-20-5_711845894/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-20-5_711845894/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8c52c10eb0bb6c56ea8f8ed0b93c49afaefa637c --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-20-5_711845894/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 453.73189988087347, + 111.16025017712286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 451.13382366952015, + 112.66025017712286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 448.53574745816684, + 114.16025017712286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 445.9376712468135, + 115.66025017712286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 443.3395950354602, + 117.16025017712286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 440.7415188241069, + 118.66025017712286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 438.1434426127536, + 120.16025017712286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 435.54536640140026, + 121.66025017712286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 432.94729019004694, + 123.16025017712286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 430.3492139786936, + 124.66025017712286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 427.7511377673403, + 126.16025017712286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 425.153061555987, + 127.66025017712286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 422.5549853446337, + 129.16025017712286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 419.95690913328036, + 130.66025017712286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 417.35883292192705, + 132.16025017712286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 414.76075671057373, + 133.66025017712286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 412.1626804992204, + 135.16025017712286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 409.5646042878671, + 136.66025017712286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 406.9665280765138, + 138.16025017712286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 404.36845186516047, + 139.66025017712286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 401.77037565380715, + 141.16025017712286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 399.17229944245383, + 142.66025017712286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 396.5742232311005, + 144.16025017712286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 393.9761470197472, + 145.66025017712286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 391.3780708083939, + 147.16025017712286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 388.77999459704057, + 148.66025017712286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 386.18191838568725, + 150.16025017712286, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 364.0, + 164.0, + 16.579 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-24-30_1704365084/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-24-30_1704365084/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..00ec8f39e98b11f682f83cca5d68f1766a5abd3c --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-24-30_1704365084/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1352.1068515261823, + 357.44181855146803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1355.1068515261823, + 357.44181855146803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1358.1068515261823, + 357.44181855146803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1361.1068515261823, + 357.44181855146803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1364.1068515261823, + 357.44181855146803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1367.1068515261823, + 357.44181855146803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1370.1068515261823, + 357.44181855146803, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1370.1068515261823, + 357.44181855146803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1372.7049277375356, + 355.94181855146803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1375.303003948889, + 354.44181855146803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1377.9010801602424, + 352.94181855146803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1380.4991563715957, + 351.44181855146803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1383.0972325829491, + 349.94181855146803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1385.6953087943025, + 348.44181855146803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1388.2933850056559, + 346.94181855146803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1390.8914612170092, + 345.44181855146803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1393.4895374283626, + 343.94181855146803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1396.087613639716, + 342.44181855146803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1398.6856898510694, + 340.94181855146803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1401.2837660624227, + 339.44181855146803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1403.881842273776, + 337.94181855146803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1406.4799184851295, + 336.44181855146803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1409.0779946964828, + 334.94181855146803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1411.6760709078362, + 333.44181855146803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1414.2741471191896, + 331.94181855146803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1416.872223330543, + 330.44181855146803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1419.4702995418963, + 328.94181855146803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1422.0683757532497, + 327.44181855146803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1424.666451964603, + 325.94181855146803, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1472.0, + 304.0, + 103.299 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-27-44_1856669179/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-27-44_1856669179/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c3a7059b08d2e0d7d97554bbb4d97ded3692f0c2 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-27-44_1856669179/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1485.8591039484502, + 896.0822495978922, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1484.3591039484502, + 893.4841733865389, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1482.8591039484502, + 890.8860971751856, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1481.3591039484502, + 888.2880209638322, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1479.8591039484502, + 885.6899447524788, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1478.3591039484502, + 883.0918685411255, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1476.8591039484502, + 880.4937923297721, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1475.3591039484502, + 877.8957161184187, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1473.8591039484502, + 875.2976399070653, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1472.3591039484502, + 872.699563695712, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1470.8591039484502, + 870.1014874843586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1469.3591039484502, + 867.5034112730052, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.0, + 808.0, + 102.413 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-27-5_349517445/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-27-5_349517445/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..02a023cdfe883c98150a1b45780dab87e1b4312d --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-27-5_349517445/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 588.7841884806392, + -31.50299167676478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 591.7841884806392, + -31.50299167676478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 594.7841884806392, + -31.50299167676478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 597.7841884806392, + -31.50299167676478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 600.7841884806392, + -31.50299167676478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 603.7841884806392, + -31.50299167676478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 606.7841884806392, + -31.50299167676478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 609.7841884806392, + -31.50299167676478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 612.7841884806392, + -31.50299167676478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 615.7841884806392, + -31.50299167676478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 618.7841884806392, + -31.50299167676478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 621.7841884806392, + -31.50299167676478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 624.7841884806392, + -31.50299167676478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 627.7841884806392, + -31.50299167676478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 630.7841884806392, + -31.50299167676478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 633.7841884806392, + -31.50299167676478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 636.7841884806392, + -31.50299167676478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 639.7841884806392, + -31.50299167676478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 642.7841884806392, + -31.50299167676478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 645.7841884806392, + -31.50299167676478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 648.7841884806392, + -31.50299167676478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 651.7841884806392, + -31.50299167676478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 654.7841884806392, + -31.50299167676478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 657.7841884806392, + -31.50299167676478, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 657.7841884806392, + -31.50299167676478, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 657.7841884806392, + -31.50299167676478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 659.2841884806392, + -34.101067888118095, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 660.7841884806392, + -36.69914409947141, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 662.2841884806392, + -39.29722031082473, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 663.7841884806392, + -41.89529652217804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 665.2841884806392, + -44.49337273353136, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 666.7841884806392, + -47.091448944884675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 668.2841884806392, + -49.68952515623799, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 669.7841884806392, + -52.28760136759131, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 671.2841884806392, + -54.88567757894462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 672.7841884806392, + -57.48375379029794, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 708.0, + -68.0, + 2.61985 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-29-22_387451659/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-29-22_387451659/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..816b248897bfe01b5d0fd880bd45935c4745148a --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-29-22_387451659/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1497.7461263901416, + 573.2612721168019, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1496.2461263901416, + 575.8593483281552, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1494.7461263901416, + 578.4574245395086, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1493.2461263901416, + 581.0555007508619, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1491.7461263901416, + 583.6535769622153, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1490.2461263901416, + 586.2516531735687, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1488.7461263901416, + 588.8497293849221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1487.2461263901416, + 591.4478055962754, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1485.7461263901416, + 594.0458818076288, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1484.2461263901416, + 596.6439580189822, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1482.7461263901416, + 599.2420342303355, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1481.2461263901416, + 601.8401104416889, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1479.7461263901416, + 604.4381866530423, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1479.7461263901416, + 604.4381866530423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1477.1480501787883, + 605.9381866530423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1474.5499739674349, + 607.4381866530423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1471.9518977560815, + 608.9381866530423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1469.3538215447281, + 610.4381866530423, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.0, + 664.0, + 215.281 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-34-54_1797073940/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-34-54_1797073940/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..22ac37df08c37cefb378dc69265dd48b8710920e --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-34-54_1797073940/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1866.4962946667251, + 691.1160911667057, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1867.9962946667251, + 693.7141673780591, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1869.4962946667251, + 696.3122435894124, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1870.9962946667251, + 698.9103198007658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1872.4962946667251, + 701.5083960121192, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1873.9962946667251, + 704.1064722234726, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1875.4962946667251, + 706.7045484348259, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1876.9962946667251, + 709.3026246461793, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1878.4962946667251, + 711.9007008575327, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1879.9962946667251, + 714.498777068886, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1881.4962946667251, + 717.0968532802394, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1882.9962946667251, + 719.6949294915928, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1884.4962946667251, + 722.2930057029462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1885.9962946667251, + 724.8910819142995, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1887.4962946667251, + 727.4891581256529, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1888.9962946667251, + 730.0872343370063, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1890.4962946667251, + 732.6853105483597, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1891.9962946667251, + 735.283386759713, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1893.4962946667251, + 737.8814629710664, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1894.9962946667251, + 740.4795391824198, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1896.4962946667251, + 743.0776153937732, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1897.9962946667251, + 745.6756916051265, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1899.4962946667251, + 748.2737678164799, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1900.9962946667251, + 750.8718440278333, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1936.0, + 812.0, + 160.906 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-35-32_1065311705/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-35-32_1065311705/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..615078d2d807f61e0491a1a18990bfa85c95e9f4 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-35-32_1065311705/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 274.37290892203873, + 229.10178937197904, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 271.7748327106854, + 227.60178937197904, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 269.1767564993321, + 226.10178937197904, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 266.5786802879788, + 224.60178937197904, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 263.98060407662547, + 223.10178937197904, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 261.38252786527215, + 221.60178937197904, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 258.78445165391884, + 220.10178937197904, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 256.1863754425655, + 218.60178937197904, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 253.5882992312122, + 217.10178937197904, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 250.9902230198589, + 215.60178937197904, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 248.39214680850557, + 214.10178937197904, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 245.79407059715226, + 212.60178937197904, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 243.19599438579894, + 211.10178937197904, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 240.59791817444562, + 209.60178937197904, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 237.9998419630923, + 208.10178937197904, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 235.401765751739, + 206.60178937197904, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 232.80368954038568, + 205.10178937197904, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 230.20561332903236, + 203.60178937197904, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 227.60753711767904, + 202.10178937197904, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 225.00946090632573, + 200.60178937197904, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 222.4113846949724, + 199.10178937197904, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 219.8133084836191, + 197.60178937197904, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 217.21523227226578, + 196.10178937197904, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 217.21523227226578, + 196.10178937197904, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 215.71523227226578, + 193.50371316062572, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 214.21523227226578, + 190.9056369492724, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 212.71523227226578, + 188.3075607379191, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 211.21523227226578, + 185.70948452656577, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 188.0, + 168.0, + 23.6083 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-45-52_2114937732/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-45-52_2114937732/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1e544b4b1f4b7f3ad370cfdd8df5ce9ad69987f0 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-45-52_2114937732/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1895.1901320235368, + 93.04393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1898.1901320235368, + 93.04393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1901.1901320235368, + 93.04393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1904.1901320235368, + 93.04393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1907.1901320235368, + 93.04393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1910.1901320235368, + 93.04393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1913.1901320235368, + 93.04393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1916.1901320235368, + 93.04393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1919.1901320235368, + 93.04393736242272, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1919.1901320235368, + 93.04393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1921.7882082348901, + 91.54393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1924.3862844462435, + 90.04393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1926.9843606575969, + 88.54393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1929.5824368689503, + 87.04393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1932.1805130803036, + 85.54393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1934.778589291657, + 84.04393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1937.3766655030104, + 82.54393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1939.9747417143637, + 81.04393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1942.5728179257171, + 79.54393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1945.1708941370705, + 78.04393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1947.7689703484239, + 76.54393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1950.3670465597772, + 75.04393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1952.9651227711306, + 73.54393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1955.563198982484, + 72.04393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1958.1612751938374, + 70.54393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1960.7593514051907, + 69.04393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1963.357427616544, + 67.54393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1965.9555038278975, + 66.04393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1968.5535800392508, + 64.54393736242272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1971.1516562506042, + 63.043937362422724, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1973.7497324619576, + 61.543937362422724, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1976.347808673311, + 60.043937362422724, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1978.9458848846643, + 58.543937362422724, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1981.5439610960177, + 57.043937362422724, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1984.142037307371, + 55.543937362422724, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1986.7401135187245, + 54.043937362422724, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1989.3381897300778, + 52.543937362422724, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1991.9362659414312, + 51.043937362422724, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1994.5343421527846, + 49.543937362422724, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1997.132418364138, + 48.043937362422724, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2012.0, + 40.0, + 2.59066 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-47-21_882160379/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-47-21_882160379/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..51c4a2e2452331c3587e473e8f5de0b63a350036 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-47-21_882160379/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 846.1360784670136, + 363.4041637542401, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 846.1360784670136, + 366.4041637542401, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 846.1360784670136, + 369.4041637542401, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 846.1360784670136, + 372.4041637542401, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 846.1360784670136, + 375.4041637542401, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 846.1360784670136, + 378.4041637542401, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 846.1360784670136, + 381.4041637542401, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 846.1360784670136, + 384.4041637542401, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 846.1360784670136, + 387.4041637542401, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 846.1360784670136, + 390.4041637542401, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 846.1360784670136, + 393.4041637542401, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 846.1360784670136, + 396.4041637542401, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 846.1360784670136, + 399.4041637542401, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 846.1360784670136, + 402.4041637542401, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 846.1360784670136, + 405.4041637542401, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 846.1360784670136, + 408.4041637542401, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 846.1360784670136, + 408.4041637542401, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 844.6360784670136, + 411.0022399655934, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 843.1360784670136, + 413.6003161769467, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 841.6360784670136, + 416.1983923883, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 840.1360784670136, + 418.79646859965334, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 838.6360784670136, + 421.39454481100665, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 837.1360784670136, + 423.99262102235997, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 835.6360784670136, + 426.5906972337133, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 834.1360784670136, + 429.1887734450666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 832.6360784670136, + 431.7868496564199, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 831.1360784670136, + 434.38492586777323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 829.6360784670136, + 436.98300207912655, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 820.0, + 468.0, + 126.263 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-49-9_1548348142/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-49-9_1548348142/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..92776118cb57aabf425c17ef09005acdf79f10cd --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-49-9_1548348142/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -109.84928072472087, + 25.761044162623477, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -106.84928072472087, + 25.761044162623477, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -103.84928072472087, + 25.761044162623477, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -100.84928072472087, + 25.761044162623477, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -97.84928072472087, + 25.761044162623477, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -97.84928072472087, + 25.761044162623477, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -95.25120451336755, + 24.261044162623477, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -92.65312830201424, + 22.761044162623477, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -90.05505209066092, + 21.261044162623477, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -87.4569758793076, + 19.761044162623477, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -84.85889966795429, + 18.261044162623477, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -82.26082345660097, + 16.761044162623477, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -79.66274724524766, + 15.261044162623477, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -77.06467103389434, + 13.761044162623477, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -74.46659482254103, + 12.261044162623477, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -71.86851861118771, + 10.761044162623477, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -69.2704423998344, + 9.261044162623477, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -66.67236618848108, + 7.761044162623477, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -64.07428997712776, + 6.261044162623477, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -61.476213765774446, + 4.761044162623477, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -58.87813755442113, + 3.2610441626234774, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -56.280061343067814, + 1.7610441626234776, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -53.6819851317145, + 0.26104416262347785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -51.08390892036118, + -1.238955837376522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -48.485832709007866, + -2.7389558373765217, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -45.88775649765455, + -4.238955837376522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -43.289680286301234, + -5.738955837376522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -40.69160407494792, + -7.238955837376522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -38.0935278635946, + -8.73895583737652, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982986 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -35.495451652241286, + -10.23895583737652, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -32.89737544088797, + -11.73895583737652, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -30.299299229534654, + -13.23895583737652, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -27.701223018181338, + -14.73895583737652, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -25.103146806828022, + -16.23895583737652, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982984 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -22.505070595474706, + -17.73895583737652, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -19.90699438412139, + -19.23895583737652, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -17.308918172768074, + -20.73895583737652, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 20.0, + -40.0, + 31.11 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-50-32_1520223205/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-50-32_1520223205/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de375b506fdf9d37c3f8481a786a2a9340c3ff07 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-50-32_1520223205/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1903.6386996742117, + 224.90951956644392, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1905.1386996742117, + 227.50759577779723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1906.6386996742117, + 230.10567198915055, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1908.1386996742117, + 232.70374820050387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1909.6386996742117, + 235.30182441185718, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1911.1386996742117, + 237.8999006232105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1912.6386996742117, + 240.49797683456381, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1914.1386996742117, + 243.09605304591713, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1915.6386996742117, + 245.69412925727045, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1917.1386996742117, + 248.29220546862376, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1918.6386996742117, + 250.89028167997708, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1920.1386996742117, + 253.4883578913304, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1920.1386996742117, + 253.4883578913304, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1922.736775885565, + 254.9883578913304, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1925.3348520969184, + 256.4883578913304, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1927.9329283082718, + 257.9883578913304, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1930.5310045196252, + 259.4883578913304, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1933.1290807309786, + 260.9883578913304, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1935.727156942332, + 262.4883578913304, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1992.0, + 328.0, + 3.01289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-1-8_364319529/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-1-8_364319529/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..547cd38f0c44d7605cb2d1588dbf95e5db485142 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-1-8_364319529/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 765.6243109591378, + -167.9373439877607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 764.1243109591378, + -165.33926777640738, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 762.6243109591378, + -162.74119156505407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 761.1243109591378, + -160.14311535370075, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 759.6243109591378, + -157.54503914234743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 758.1243109591378, + -154.94696293099412, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 756.6243109591378, + -152.3488867196408, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 755.1243109591378, + -149.7508105082875, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 753.6243109591378, + -147.15273429693417, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 752.1243109591378, + -144.55465808558085, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 750.6243109591378, + -141.95658187422754, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 749.1243109591378, + -139.35850566287422, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 747.6243109591378, + -136.7604294515209, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 746.1243109591378, + -134.1623532401676, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 744.6243109591378, + -131.56427702881427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 743.1243109591378, + -128.96620081746096, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 741.6243109591378, + -126.36812460610764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 740.1243109591378, + -123.77004839475433, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 738.6243109591378, + -121.17197218340101, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 737.1243109591378, + -118.5738959720477, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 735.6243109591378, + -115.97581976069438, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 734.1243109591378, + -113.37774354934106, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 732.6243109591378, + -110.77966733798775, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 731.1243109591378, + -108.18159112663443, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 729.6243109591378, + -105.58351491528111, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 728.1243109591378, + -102.9854387039278, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 726.6243109591378, + -100.38736249257448, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 725.1243109591378, + -97.78928628122117, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 723.6243109591378, + -95.19121006986785, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 708.0, + -68.0, + 2.61985 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-14-6_1498617647/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-14-6_1498617647/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9374b6d2e9e7e47730fc779f5553adb6e51c2830 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-14-6_1498617647/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 437.34425718369323, + 298.6970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 434.34425718369323, + 298.6970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 431.34425718369323, + 298.6970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 428.34425718369323, + 298.6970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 425.34425718369323, + 298.6970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 422.34425718369323, + 298.6970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 419.34425718369323, + 298.6970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 416.34425718369323, + 298.6970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 413.34425718369323, + 298.6970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 410.34425718369323, + 298.6970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 407.34425718369323, + 298.6970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 404.34425718369323, + 298.6970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 401.34425718369323, + 298.6970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 398.34425718369323, + 298.6970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 395.34425718369323, + 298.6970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 392.34425718369323, + 298.6970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 389.34425718369323, + 298.6970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 386.34425718369323, + 298.6970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 383.34425718369323, + 298.6970061653638, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 383.34425718369323, + 298.6970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 380.7461809723399, + 297.1970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 378.1481047609866, + 295.6970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 375.5500285496333, + 294.1970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 372.95195233827997, + 292.6970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 370.35387612692665, + 291.1970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 367.75579991557333, + 289.6970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 365.15772370422, + 288.1970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 362.5596474928667, + 286.6970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 359.9615712815134, + 285.1970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 357.36349507016007, + 283.6970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 354.76541885880675, + 282.1970061653638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 352.16734264745344, + 280.6970061653638, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + 276.0, + 64.2459 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-2-35_767066249/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-2-35_767066249/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4d15845229d69b1be2edb2ed3549e3a425722f0f --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-2-35_767066249/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -14.38578559240958, + 444.55220482743186, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -14.38578559240958, + 441.55220482743186, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -14.38578559240958, + 438.55220482743186, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -14.38578559240958, + 435.55220482743186, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -14.38578559240958, + 432.55220482743186, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -14.38578559240958, + 429.55220482743186, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -14.38578559240958, + 426.55220482743186, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -14.38578559240958, + 423.55220482743186, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -14.38578559240958, + 420.55220482743186, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -14.38578559240958, + 417.55220482743186, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -14.38578559240958, + 414.55220482743186, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -14.38578559240958, + 411.55220482743186, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -14.38578559240958, + 411.55220482743186, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -15.88578559240958, + 408.95412861607855, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -17.38578559240958, + 406.35605240472523, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -18.88578559240958, + 403.7579761933719, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -20.38578559240958, + 401.1598999820186, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -21.88578559240958, + 398.5618237706653, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -23.38578559240958, + 395.96374755931197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -24.88578559240958, + 393.36567134795865, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -36.0, + 344.0, + 63.6789 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-23-23_1402961682/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-23-23_1402961682/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..baf2d65cd0216107b6bbd0cbe9d4f2c35f4c6849 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-23-23_1402961682/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1664.713564494008, + 26.664862157415172, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1663.213564494008, + 29.262938368768488, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1661.713564494008, + 31.861014580121804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1660.213564494008, + 34.45909079147512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1658.713564494008, + 37.057167002828436, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1657.213564494008, + 39.65524321418175, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1655.713564494008, + 42.25331942553507, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1654.213564494008, + 44.851395636888384, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1652.713564494008, + 47.4494718482417, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1651.213564494008, + 50.047548059595016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1649.713564494008, + 52.64562427094833, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1648.213564494008, + 55.24370048230165, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1646.713564494008, + 57.841776693654964, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1645.213564494008, + 60.43985290500828, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1643.713564494008, + 63.037929116361596, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1642.213564494008, + 65.63600532771491, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1640.713564494008, + 68.23408153906823, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1639.213564494008, + 70.83215775042154, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1637.713564494008, + 73.43023396177486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1636.213564494008, + 76.02831017312818, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1634.713564494008, + 78.62638638448149, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1633.213564494008, + 81.22446259583481, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1631.713564494008, + 83.82253880718812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1630.213564494008, + 86.42061501854144, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1628.713564494008, + 89.01869122989476, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1627.213564494008, + 91.61676744124807, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1627.213564494008, + 91.61676744124807, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1627.213564494008, + 94.61676744124807, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1627.213564494008, + 97.61676744124807, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1627.213564494008, + 100.61676744124807, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1627.213564494008, + 103.61676744124807, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1627.213564494008, + 106.61676744124807, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1627.213564494008, + 109.61676744124807, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1627.213564494008, + 112.61676744124807, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1627.213564494008, + 115.61676744124807, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1627.213564494008, + 118.61676744124807, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1627.213564494008, + 121.61676744124807, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1612.0, + 164.0, + 123.13 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-30-47_1184214677/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-30-47_1184214677/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..14619bfd27c64ee57f83d54c74e2a3b630623307 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-30-47_1184214677/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1933.1282072909323, + 261.6399557381718, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1931.6282072909323, + 259.0418795268185, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1930.1282072909323, + 256.4438033154652, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1928.6282072909323, + 253.84572710411186, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1927.1282072909323, + 251.24765089275854, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1925.6282072909323, + 248.64957468140523, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1924.1282072909323, + 246.0514984700519, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1922.6282072909323, + 243.4534222586986, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1921.1282072909323, + 240.85534604734528, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1919.6282072909323, + 238.25726983599196, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1918.1282072909323, + 235.65919362463865, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1916.6282072909323, + 233.06111741328533, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1915.1282072909323, + 230.46304120193201, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1913.6282072909323, + 227.8649649905787, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1912.1282072909323, + 225.26688877922538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1910.6282072909323, + 222.66881256787207, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1909.1282072909323, + 220.07073635651875, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1907.6282072909323, + 217.47266014516543, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1906.1282072909323, + 214.87458393381212, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1904.6282072909323, + 212.2765077224588, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1903.1282072909323, + 209.6784315111055, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1901.6282072909323, + 207.08035529975217, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1900.1282072909323, + 204.48227908839885, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1900.1282072909323, + 204.48227908839885, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1897.530131079579, + 202.98227908839885, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1894.9320548682256, + 201.48227908839885, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1892.3339786568722, + 199.98227908839885, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1889.7359024455188, + 198.48227908839885, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1887.1378262341655, + 196.98227908839885, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1868.0, + 168.0, + 104.903 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-33-46_696947386/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-33-46_696947386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d54ae091c85bb4228a3414f6b7ac3cd87fe7ae2b --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-33-46_696947386/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1097.5849608444676, + 485.63896838836575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1100.5849608444676, + 485.63896838836575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1103.5849608444676, + 485.63896838836575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1106.5849608444676, + 485.63896838836575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1109.5849608444676, + 485.63896838836575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1112.5849608444676, + 485.63896838836575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1115.5849608444676, + 485.63896838836575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1118.5849608444676, + 485.63896838836575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1121.5849608444676, + 485.63896838836575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1124.5849608444676, + 485.63896838836575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1127.5849608444676, + 485.63896838836575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1130.5849608444676, + 485.63896838836575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1133.5849608444676, + 485.63896838836575, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1133.5849608444676, + 485.63896838836575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1136.183037055821, + 484.13896838836575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1138.7811132671743, + 482.63896838836575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1141.3791894785277, + 481.13896838836575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1143.977265689881, + 479.63896838836575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1146.5753419012344, + 478.13896838836575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1149.1734181125878, + 476.63896838836575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1151.7714943239412, + 475.13896838836575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1154.3695705352945, + 473.63896838836575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1156.967646746648, + 472.13896838836575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1159.5657229580013, + 470.63896838836575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1162.1637991693547, + 469.13896838836575, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1236.0, + 456.0, + 148.475 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-34-37_1369602726/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-34-37_1369602726/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e6a7217df23e4620f48101a0976f5296f9a039dc --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-34-37_1369602726/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1032.679005004654, + -298.661184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1035.679005004654, + -298.661184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1038.679005004654, + -298.661184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1041.679005004654, + -298.661184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1044.679005004654, + -298.661184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1047.679005004654, + -298.661184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1050.679005004654, + -298.661184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1053.679005004654, + -298.661184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1056.679005004654, + -298.661184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1059.679005004654, + -298.661184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1062.679005004654, + -298.661184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1065.679005004654, + -298.661184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1068.679005004654, + -298.661184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1071.679005004654, + -298.661184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1074.679005004654, + -298.661184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1077.679005004654, + -298.661184805697, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1077.679005004654, + -298.661184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1080.2770812160074, + -297.161184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1082.8751574273608, + -295.661184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1085.4732336387142, + -294.161184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1088.0713098500676, + -292.661184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1090.669386061421, + -291.161184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1093.2674622727743, + -289.661184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1095.8655384841277, + -288.161184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1098.463614695481, + -286.661184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1101.0616909068344, + -285.161184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1103.6597671181878, + -283.661184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1106.2578433295412, + -282.161184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1108.8559195408945, + -280.661184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1111.453995752248, + -279.161184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1114.0520719636013, + -277.661184805697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1116.6501481749547, + -276.161184805697, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0, + -272.0, + 9.35903 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-37-48_1426819080/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-37-48_1426819080/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6b1ea8edfc170168d5f9d7b763a8cfce228ba4fc --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-37-48_1426819080/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 865.2283626611778, + -156.42983852778673, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 866.7283626611778, + -153.8317623164334, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 868.2283626611778, + -151.2336861050801, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 869.7283626611778, + -148.63560989372678, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 871.2283626611778, + -146.03753368237346, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 872.7283626611778, + -143.43945747102015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 874.2283626611778, + -140.84138125966683, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 875.7283626611778, + -138.24330504831352, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 877.2283626611778, + -135.6452288369602, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 878.7283626611778, + -133.04715262560688, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 880.2283626611778, + -130.44907641425357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 881.7283626611778, + -127.85100020290025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 883.2283626611778, + -125.25292399154694, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 884.7283626611778, + -122.65484778019362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 886.2283626611778, + -120.0567715688403, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 887.7283626611778, + -117.45869535748699, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 889.2283626611778, + -114.86061914613367, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 890.7283626611778, + -112.26254293478036, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 892.2283626611778, + -109.66446672342704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 893.7283626611778, + -107.06639051207372, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 895.2283626611778, + -104.46831430072041, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 895.2283626611778, + -104.46831430072041, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 895.2283626611778, + -101.46831430072041, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 895.2283626611778, + -98.46831430072041, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 928.0, + -32.0, + 19.9495 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-4-46_1671294892/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-4-46_1671294892/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e3d189d0007b013ecd4c902b547c2cc3c183d335 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-4-46_1671294892/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1009.4859814533426, + 566.2820394724733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1007.9859814533426, + 563.68396326112, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1006.4859814533426, + 561.0858870497666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1004.9859814533426, + 558.4878108384132, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1003.4859814533426, + 555.8897346270599, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1001.9859814533426, + 553.2916584157065, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1000.4859814533426, + 550.6935822043531, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 998.9859814533426, + 548.0955059929997, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 997.4859814533426, + 545.4974297816464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 995.9859814533426, + 542.899353570293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 994.4859814533426, + 540.3012773589396, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 992.9859814533426, + 537.7032011475862, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 991.4859814533426, + 535.1051249362329, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 989.9859814533426, + 532.5070487248795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 988.4859814533426, + 529.9089725135261, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 986.9859814533426, + 527.3108963021728, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 985.4859814533426, + 524.7128200908194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 983.9859814533426, + 522.114743879466, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 982.4859814533426, + 519.5166676681126, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 980.9859814533426, + 516.9185914567593, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 979.4859814533426, + 514.3205152454059, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 977.9859814533426, + 511.72243903405257, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 976.4859814533426, + 509.12436282269925, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 948.0, + 464.0, + 139.324 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-40-17_1505193512/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-40-17_1505193512/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a752decfebf0ef6683438a8fac77e1a8777cd20d --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-40-17_1505193512/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1782.1226892762863, + 48.9328703433365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1783.6226892762863, + 46.33479413198319, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1785.1226892762863, + 43.73671792062987, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1786.6226892762863, + 41.138641709276556, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1788.1226892762863, + 38.54056549792324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1789.6226892762863, + 35.94248928656992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1791.1226892762863, + 33.34441307521661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1792.6226892762863, + 30.74633686386329, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1794.1226892762863, + 28.148260652509975, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1795.6226892762863, + 25.55018444115666, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1795.6226892762863, + 25.55018444115666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1795.6226892762863, + 22.55018444115666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1795.6226892762863, + 19.55018444115666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1795.6226892762863, + 16.55018444115666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1795.6226892762863, + 13.55018444115666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1795.6226892762863, + 10.55018444115666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1795.6226892762863, + 7.550184441156659, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1795.6226892762863, + 4.550184441156659, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1795.6226892762863, + 1.5501844411566594, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1795.6226892762863, + 1.5501844411566594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1797.1226892762863, + -1.0478917701966566, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1798.6226892762863, + -3.6459679815499726, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1800.1226892762863, + -6.244044192903289, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1801.6226892762863, + -8.842120404256605, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1803.1226892762863, + -11.44019661560992, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1803.1226892762863, + -11.44019661560992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1805.7207654876397, + -12.94019661560992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1808.318841698993, + -14.44019661560992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1810.9169179103465, + -15.94019661560992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1813.5149941216998, + -17.44019661560992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1816.1130703330532, + -18.94019661560992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1818.7111465444066, + -20.44019661560992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1821.30922275576, + -21.94019661560992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1823.9072989671133, + -23.44019661560992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1826.5053751784667, + -24.94019661560992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1829.10345138982, + -26.44019661560992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1831.7015276011734, + -27.94019661560992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1834.2996038125268, + -29.44019661560992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1836.8976800238802, + -30.94019661560992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1839.4957562352336, + -32.44019661560992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1842.093832446587, + -33.94019661560992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1844.6919086579403, + -35.44019661560992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1847.2899848692937, + -36.94019661560992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1849.888061080647, + -38.44019661560992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1852.4861372920004, + -39.94019661560992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1855.0842135033538, + -41.44019661560992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1857.6822897147072, + -42.94019661560992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1860.2803659260605, + -44.44019661560992, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1876.0, + -64.0, + 31.2239 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-43-51_309198987/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-43-51_309198987/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f9bcb20ed12191fba06059bd2874841494ce6d4a --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-43-51_309198987/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -48.844897344388436, + 477.473435009104, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -48.844897344388436, + 474.473435009104, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -48.844897344388436, + 471.473435009104, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -48.844897344388436, + 468.473435009104, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -48.844897344388436, + 465.473435009104, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -48.844897344388436, + 462.473435009104, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -48.844897344388436, + 459.473435009104, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -48.844897344388436, + 456.473435009104, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -48.844897344388436, + 453.473435009104, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -48.844897344388436, + 450.473435009104, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -48.844897344388436, + 447.473435009104, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -48.844897344388436, + 444.473435009104, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -48.844897344388436, + 441.473435009104, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -48.844897344388436, + 438.473435009104, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -48.844897344388436, + 435.473435009104, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -48.844897344388436, + 432.473435009104, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -48.844897344388436, + 429.473435009104, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -48.844897344388436, + 426.473435009104, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -48.844897344388436, + 423.473435009104, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -48.844897344388436, + 420.473435009104, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -48.844897344388436, + 420.473435009104, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -47.344897344388436, + 417.87535879775066, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -45.844897344388436, + 415.27728258639735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -44.344897344388436, + 412.67920637504403, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -42.844897344388436, + 410.0811301636907, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -41.344897344388436, + 407.4830539523374, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -39.844897344388436, + 404.8849777409841, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -38.344897344388436, + 402.28690152963077, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -36.844897344388436, + 399.68882531827745, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -35.344897344388436, + 397.09074910692414, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -33.844897344388436, + 394.4926728955708, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -32.344897344388436, + 391.8945966842175, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -28.0, + 372.0, + 30.9954 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-44-34_530498338/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-44-34_530498338/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ca8ecd1a9e58a58a02df122b80ae92717885c6d --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-44-34_530498338/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 968.1609420954853, + 79.18612039389365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 966.6609420954853, + 76.58804418254033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 965.1609420954853, + 73.98996797118701, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 963.6609420954853, + 71.3918917598337, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 962.1609420954853, + 68.79381554848038, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 960.6609420954853, + 66.19573933712707, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 959.1609420954853, + 63.59766312577375, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 957.6609420954853, + 60.99958691442043, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 956.1609420954853, + 58.40151070306712, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 954.6609420954853, + 55.8034344917138, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 953.1609420954853, + 53.205358280360485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 951.6609420954853, + 50.60728206900717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 950.1609420954853, + 48.00920585765385, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 948.6609420954853, + 45.41112964630054, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 948.6609420954853, + 45.41112964630054, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 948.6609420954853, + 42.41112964630054, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 948.6609420954853, + 39.41112964630054, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 948.6609420954853, + 36.41112964630054, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 948.6609420954853, + 33.41112964630054, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 948.6609420954853, + 30.411129646300537, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 948.6609420954853, + 27.411129646300537, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 948.6609420954853, + 24.411129646300537, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 948.6609420954853, + 21.411129646300537, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 928.0, + -32.0, + 19.9495 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-45-14_1541027284/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-45-14_1541027284/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..54ddaf5ce135dcbb48041a4896d250d88162685a --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-45-14_1541027284/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1068.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1071.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1074.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1077.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1080.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1083.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1086.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1089.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1092.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1095.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1098.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1101.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1104.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1107.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1110.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1113.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1116.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1119.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1122.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1125.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1128.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1131.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1134.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1137.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1140.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1143.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1146.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1149.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1152.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1155.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1158.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1161.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1164.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1167.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1170.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1173.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1176.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1179.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1182.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1185.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1185.4791067007038, + 817.5703862496251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1188.0771829120572, + 819.0703862496251, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1208.0, + 820.0, + 17.114 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-49-22_471990783/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-49-22_471990783/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f0863940d903abc3a59d1528e0fb96149ab130b --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-49-22_471990783/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1376.4910494042801, + 37.23595516078346, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1379.0891256156335, + 35.73595516078346, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1381.687201826987, + 34.23595516078346, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1384.2852780383403, + 32.73595516078346, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1386.8833542496936, + 31.235955160783462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1389.481430461047, + 29.735955160783462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1392.0795066724004, + 28.235955160783462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1394.6775828837538, + 26.735955160783462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1397.2756590951071, + 25.235955160783462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1399.8737353064605, + 23.735955160783462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1402.4718115178139, + 22.235955160783462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1405.0698877291672, + 20.735955160783462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1407.6679639405206, + 19.235955160783462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1410.266040151874, + 17.735955160783462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1412.8641163632274, + 16.235955160783462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1415.4621925745807, + 14.735955160783462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1418.060268785934, + 13.235955160783462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1420.6583449972875, + 11.735955160783462, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1420.6583449972875, + 11.735955160783462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1422.1583449972875, + 9.137878949430146, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1423.6583449972875, + 6.53980273807683, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1425.1583449972875, + 3.9417265267235138, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1426.6583449972875, + 1.3436503153701977, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1428.1583449972875, + -1.2544258959831183, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1429.6583449972875, + -3.8525021073364343, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1431.1583449972875, + -6.45057831868975, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1432.6583449972875, + -9.048654530043066, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1434.1583449972875, + -11.646730741396382, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1434.1583449972875, + -11.646730741396382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1436.7564212086409, + -13.146730741396382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1439.3544974199942, + -14.646730741396382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1441.9525736313476, + -16.146730741396382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1444.550649842701, + -17.646730741396382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1447.1487260540544, + -19.146730741396382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1449.7468022654077, + -20.646730741396382, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1488.0, + -52.0, + 18.9243 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-52-29_1647149314/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-52-29_1647149314/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5345f56ca0ddefd436bc4901053ac3fcb6589238 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-52-29_1647149314/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 281.4353455837319, + 276.7057771779186, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 279.9353455837319, + 274.1077009665653, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 278.4353455837319, + 271.509624755212, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 276.9353455837319, + 268.91154854385866, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 275.4353455837319, + 266.31347233250534, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 273.9353455837319, + 263.715396121152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 272.4353455837319, + 261.1173199097987, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 270.9353455837319, + 258.5192436984454, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 269.4353455837319, + 255.92116748709208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 267.9353455837319, + 253.32309127573876, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 266.4353455837319, + 250.72501506438545, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 264.9353455837319, + 248.12693885303213, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 263.4353455837319, + 245.5288626416788, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 261.9353455837319, + 242.9307864303255, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 260.4353455837319, + 240.33271021897218, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 258.9353455837319, + 237.73463400761887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 257.4353455837319, + 235.13655779626555, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 255.93534558373187, + 232.53848158491223, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 254.43534558373187, + 229.94040537355892, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 252.93534558373187, + 227.3423291622056, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 251.43534558373187, + 224.74425295085229, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 249.93534558373187, + 222.14617673949897, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 248.43534558373187, + 219.54810052814565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 246.93534558373187, + 216.95002431679234, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 245.43534558373187, + 214.35194810543902, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 243.93534558373187, + 211.7538718940857, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 242.43534558373187, + 209.1557956827324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 240.93534558373187, + 206.55771947137907, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 239.43534558373187, + 203.95964326002576, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 237.93534558373187, + 201.36156704867244, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 237.93534558373187, + 201.36156704867244, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 237.93534558373187, + 198.36156704867244, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 237.93534558373187, + 195.36156704867244, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 237.93534558373187, + 192.36156704867244, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 237.93534558373187, + 189.36156704867244, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 237.93534558373187, + 186.36156704867244, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 237.93534558373187, + 183.36156704867244, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 237.93534558373187, + 180.36156704867244, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 228.0, + 164.0, + 51.3126 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-53-11_1152645729/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-53-11_1152645729/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c210c917172d66997cd07fafc65ebd41a73eae4b --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-53-11_1152645729/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1928.6813376865355, + 39.62989750701817, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1927.1813376865355, + 42.22797371837149, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1925.6813376865355, + 44.8260499297248, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1924.1813376865355, + 47.42412614107812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1922.6813376865355, + 50.022202352431435, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1921.1813376865355, + 52.62027856378475, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1919.6813376865355, + 55.21835477513807, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1918.1813376865355, + 57.81643098649138, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1916.6813376865355, + 60.4145071978447, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1915.1813376865355, + 63.012583409198015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1913.6813376865355, + 65.61065962055133, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1912.1813376865355, + 68.20873583190465, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1910.6813376865355, + 70.80681204325796, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1909.1813376865355, + 73.40488825461128, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1907.6813376865355, + 76.0029644659646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1906.1813376865355, + 78.60104067731791, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1904.6813376865355, + 81.19911688867123, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1903.1813376865355, + 83.79719310002454, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1901.6813376865355, + 86.39526931137786, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1900.1813376865355, + 88.99334552273118, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1898.6813376865355, + 91.59142173408449, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1897.1813376865355, + 94.18949794543781, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1895.6813376865355, + 96.78757415679112, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1894.1813376865355, + 99.38565036814444, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1892.6813376865355, + 101.98372657949776, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1891.1813376865355, + 104.58180279085107, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1891.1813376865355, + 104.58180279085107, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1891.1813376865355, + 107.58180279085107, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1891.1813376865355, + 110.58180279085107, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1891.1813376865355, + 113.58180279085107, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1891.1813376865355, + 116.58180279085107, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1891.1813376865355, + 119.58180279085107, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1891.1813376865355, + 122.58180279085107, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1868.0, + 168.0, + 104.903 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-8-56_932026304/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-8-56_932026304/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9248cf62484f829a768ae090996be1f4e7291911 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-8-56_932026304/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 615.4102764449312, + -123.31238820698573, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 618.0083526562846, + -121.81238820698573, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 620.606428867638, + -120.31238820698573, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 623.2045050789914, + -118.81238820698573, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 625.8025812903447, + -117.31238820698573, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 628.4006575016981, + -115.81238820698573, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 630.9987337130515, + -114.31238820698573, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 633.5968099244049, + -112.81238820698573, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 636.1948861357582, + -111.31238820698573, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 638.7929623471116, + -109.81238820698573, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 641.391038558465, + -108.31238820698573, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 643.9891147698183, + -106.81238820698573, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 646.5871909811717, + -105.31238820698573, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 649.1852671925251, + -103.81238820698573, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 651.7833434038785, + -102.31238820698573, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 654.3814196152318, + -100.81238820698573, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 656.9794958265852, + -99.31238820698573, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 659.5775720379386, + -97.81238820698573, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 662.175648249292, + -96.31238820698573, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 664.7737244606453, + -94.81238820698573, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 667.3718006719987, + -93.31238820698573, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 669.9698768833521, + -91.81238820698573, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 672.5679530947054, + -90.31238820698573, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 675.1660293060588, + -88.81238820698573, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 708.0, + -68.0, + 2.61985 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-9-10_496060028/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-9-10_496060028/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1202f0b575b1725796ea21a07c0e244f4a3d9fd7 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-9-10_496060028/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1645.372610173165, + 46.30555468765016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1643.872610173165, + 43.70747847629684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1642.372610173165, + 41.109402264943526, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1640.872610173165, + 38.51132605359021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1639.372610173165, + 35.913249842236894, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1637.872610173165, + 33.31517363088358, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1636.372610173165, + 30.717097419530262, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1634.872610173165, + 28.119021208176946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1633.372610173165, + 25.52094499682363, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1631.872610173165, + 22.922868785470314, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1630.372610173165, + 20.324792574116998, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1628.872610173165, + 17.726716362763682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1627.372610173165, + 15.128640151410366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1625.872610173165, + 12.53056394005705, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1624.372610173165, + 9.932487728703734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1622.872610173165, + 7.334411517350418, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1621.372610173165, + 4.736335305997102, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1619.872610173165, + 2.138259094643786, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1618.372610173165, + -0.4598171167095302, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1618.372610173165, + -0.4598171167095302, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1618.372610173165, + -3.45981711670953, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1618.372610173165, + -6.45981711670953, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1618.372610173165, + -9.45981711670953, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1618.372610173165, + -12.45981711670953, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1618.372610173165, + -15.45981711670953, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1618.372610173165, + -18.45981711670953, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1618.372610173165, + -21.45981711670953, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1618.372610173165, + -24.45981711670953, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1618.372610173165, + -27.45981711670953, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1618.372610173165, + -30.45981711670953, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1618.372610173165, + -33.45981711670953, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1618.372610173165, + -36.45981711670953, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1618.372610173165, + -39.45981711670953, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1618.372610173165, + -42.45981711670953, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1618.372610173165, + -45.45981711670953, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1618.372610173165, + -48.45981711670953, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1618.372610173165, + -51.45981711670953, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1612.0, + -68.0, + 34.3503 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-10-22_1605539862/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-10-22_1605539862/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b566249f2e3a916dd57c438a9cc7fe4a8adfb43e --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-10-22_1605539862/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1926.391127353429, + 13.37448783890612, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1928.9892035647824, + 14.87448783890612, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1931.5872797761358, + 16.37448783890612, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1934.1853559874892, + 17.87448783890612, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1936.7834321988425, + 19.37448783890612, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1939.381508410196, + 20.87448783890612, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1941.9795846215493, + 22.37448783890612, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1944.5776608329027, + 23.87448783890612, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1947.175737044256, + 25.37448783890612, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1949.7738132556094, + 26.87448783890612, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1952.3718894669628, + 28.37448783890612, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1954.9699656783162, + 29.87448783890612, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1957.5680418896695, + 31.37448783890612, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1960.166118101023, + 32.87448783890612, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1962.7641943123763, + 34.37448783890612, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1965.3622705237296, + 35.87448783890612, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1967.960346735083, + 37.37448783890612, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1970.5584229464364, + 38.87448783890612, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1970.5584229464364, + 38.87448783890612, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1972.0584229464364, + 41.472564050259436, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1973.5584229464364, + 44.07064026161275, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1975.0584229464364, + 46.66871647296607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1976.5584229464364, + 49.266792684319384, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1978.0584229464364, + 51.8648688956727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1979.5584229464364, + 54.462945107026016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1981.0584229464364, + 57.06102131837933, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1982.5584229464364, + 59.65909752973265, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1984.0584229464364, + 62.257173741085964, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1985.5584229464364, + 64.85524995243928, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1987.0584229464364, + 67.4533261637926, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1988.5584229464364, + 70.05140237514591, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1990.0584229464364, + 72.64947858649923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1991.5584229464364, + 75.24755479785254, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1993.0584229464364, + 77.84563100920586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1994.5584229464364, + 80.44370722055918, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1996.0584229464364, + 83.04178343191249, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2012.0, + 96.0, + 2.4858 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-10-7_1931513970/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-10-7_1931513970/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e46778f72ba32eef1b3879a376513fdb36c3ec74 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-10-7_1931513970/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1859.4910220054755, + 57.00126943034188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1859.4910220054755, + 60.00126943034188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1859.4910220054755, + 63.00126943034188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1859.4910220054755, + 66.00126943034188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1859.4910220054755, + 69.00126943034188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1859.4910220054755, + 72.00126943034188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1859.4910220054755, + 75.00126943034188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1859.4910220054755, + 78.00126943034188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1859.4910220054755, + 81.00126943034188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1859.4910220054755, + 84.00126943034188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1859.4910220054755, + 87.00126943034188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1859.4910220054755, + 90.00126943034188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1859.4910220054755, + 93.00126943034188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1859.4910220054755, + 96.00126943034188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1859.4910220054755, + 99.00126943034188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1859.4910220054755, + 102.00126943034188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1859.4910220054755, + 105.00126943034188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1859.4910220054755, + 108.00126943034188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1859.4910220054755, + 111.00126943034188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1859.4910220054755, + 114.00126943034188, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1859.4910220054755, + 114.00126943034188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1860.9910220054755, + 116.5993456416952, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1862.4910220054755, + 119.19742185304851, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1863.9910220054755, + 121.79549806440183, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1868.0, + 168.0, + 104.903 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-12-20_1338299904/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-12-20_1338299904/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..41dcf1cd451f4ff2914585a771a7c9be954e28fa --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-12-20_1338299904/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1020.6107278858774, + 614.107366981402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1022.1107278858774, + 616.7054431927554, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1023.6107278858774, + 619.3035194041088, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1025.1107278858774, + 621.9015956154622, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1026.6107278858774, + 624.4996718268155, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1028.1107278858774, + 627.0977480381689, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1029.6107278858774, + 629.6958242495223, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1031.1107278858774, + 632.2939004608756, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1032.6107278858774, + 634.891976672229, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1034.1107278858774, + 637.4900528835824, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1035.6107278858774, + 640.0881290949358, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1037.1107278858774, + 642.6862053062891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1038.6107278858774, + 645.2842815176425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1040.1107278858774, + 647.8823577289959, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1041.6107278858774, + 650.4804339403493, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1043.1107278858774, + 653.0785101517026, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1044.6107278858774, + 655.676586363056, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1046.1107278858774, + 658.2746625744094, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1047.6107278858774, + 660.8727387857627, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1049.1107278858774, + 663.4708149971161, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1049.1107278858774, + 663.4708149971161, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1051.7088040972308, + 664.9708149971161, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1054.3068803085841, + 666.4708149971161, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1056.9049565199375, + 667.9708149971161, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1059.503032731291, + 669.4708149971161, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1062.1011089426443, + 670.9708149971161, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1064.6991851539976, + 672.4708149971161, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1067.297261365351, + 673.9708149971161, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1092.0, + 708.0, + 64.9253 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-13-50_435889744/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-13-50_435889744/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f8138ed1092eea0a287bdd6dc84c7b65f63807d6 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-13-50_435889744/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1884.2216061733295, + 380.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1887.2216061733295, + 380.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1890.2216061733295, + 380.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1893.2216061733295, + 380.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1896.2216061733295, + 380.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1899.2216061733295, + 380.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1902.2216061733295, + 380.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1905.2216061733295, + 380.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1908.2216061733295, + 380.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1911.2216061733295, + 380.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1914.2216061733295, + 380.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1917.2216061733295, + 380.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1920.2216061733295, + 380.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1923.2216061733295, + 380.4851257316811, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1923.2216061733295, + 380.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1925.819682384683, + 381.9851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1928.4177585960363, + 383.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1931.0158348073896, + 384.9851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1933.613911018743, + 386.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1936.2119872300964, + 387.9851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1938.8100634414498, + 389.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1941.4081396528031, + 390.9851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1944.0062158641565, + 392.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1946.6042920755099, + 393.9851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1949.2023682868632, + 395.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1951.8004444982166, + 396.9851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1954.39852070957, + 398.4851257316811, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1954.39852070957, + 398.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1957.39852070957, + 398.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1960.39852070957, + 398.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1963.39852070957, + 398.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1966.39852070957, + 398.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1969.39852070957, + 398.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1972.39852070957, + 398.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1975.39852070957, + 398.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1978.39852070957, + 398.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1981.39852070957, + 398.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1984.39852070957, + 398.4851257316811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1987.39852070957, + 398.4851257316811, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2004.0, + 400.0, + 26.235 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-14-27_378469911/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-14-27_378469911/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9fdf836ef013afb2de9839248bd69ef5c88cf3fb --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-14-27_378469911/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 449.925442066562, + -161.57717309098666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 452.925442066562, + -161.57717309098666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 455.925442066562, + -161.57717309098666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 458.925442066562, + -161.57717309098666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 461.925442066562, + -161.57717309098666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 464.925442066562, + -161.57717309098666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 467.925442066562, + -161.57717309098666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 470.925442066562, + -161.57717309098666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 473.925442066562, + -161.57717309098666, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 473.925442066562, + -161.57717309098666, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 473.925442066562, + -161.57717309098666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 475.425442066562, + -158.97909687963335, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 476.925442066562, + -156.38102066828003, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 478.425442066562, + -153.7829444569267, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 478.425442066562, + -153.7829444569267, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 481.02351827791534, + -152.2829444569267, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 483.62159448926866, + -150.7829444569267, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 486.219670700622, + -149.2829444569267, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 488.8177469119753, + -147.7829444569267, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 491.4158231233286, + -146.2829444569267, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 494.0138993346819, + -144.7829444569267, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 496.61197554603524, + -143.2829444569267, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 499.21005175738856, + -141.7829444569267, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 501.80812796874187, + -140.2829444569267, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 504.4062041800952, + -138.7829444569267, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 507.0042803914485, + -137.2829444569267, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 509.6023566028018, + -135.7829444569267, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 512.2004328141552, + -134.2829444569267, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 514.7985090255086, + -132.7829444569267, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 517.3965852368619, + -131.2829444569267, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 519.9946614482153, + -129.7829444569267, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 522.5927376595687, + -128.2829444569267, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 522.5927376595687, + -128.2829444569267, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 525.5927376595687, + -128.2829444569267, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 548.0, + -120.0, + 50.6383 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-15-44_29777560/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-15-44_29777560/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..501081f015b7cb4e1f1c5060ef66d2adc49d2a10 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-15-44_29777560/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1977.6623377890735, + 85.35091995791808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1976.1623377890735, + 82.75284374656476, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1974.6623377890735, + 80.15476753521145, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1973.1623377890735, + 77.55669132385813, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1971.6623377890735, + 74.95861511250482, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1970.1623377890735, + 72.3605389011515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1968.6623377890735, + 69.76246268979818, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1967.1623377890735, + 67.16438647844487, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1965.6623377890735, + 64.56631026709155, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1964.1623377890735, + 61.968234055738236, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1962.6623377890735, + 59.37015784438492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1961.1623377890735, + 56.772081633031604, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1959.6623377890735, + 54.17400542167829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1958.1623377890735, + 51.57592921032497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1956.6623377890735, + 48.977852998971656, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1955.1623377890735, + 46.37977678761834, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1953.6623377890735, + 43.781700576265024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1952.1623377890735, + 41.18362436491171, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1950.6623377890735, + 38.58554815355839, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1949.1623377890735, + 35.987471942205076, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1947.6623377890735, + 33.38939573085176, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1946.1623377890735, + 30.791319519498444, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1944.6623377890735, + 28.193243308145128, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1943.1623377890735, + 25.595167096791812, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1943.1623377890735, + 25.595167096791812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1943.1623377890735, + 22.595167096791812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1943.1623377890735, + 19.595167096791812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1943.1623377890735, + 16.595167096791812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1943.1623377890735, + 13.595167096791812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1943.1623377890735, + 10.595167096791812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1943.1623377890735, + 7.595167096791812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1943.1623377890735, + 4.595167096791812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1943.1623377890735, + 1.595167096791812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1943.1623377890735, + -1.404832903208188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1943.1623377890735, + -4.404832903208188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1943.1623377890735, + -7.404832903208188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1943.1623377890735, + -10.404832903208188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1943.1623377890735, + -13.404832903208188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1943.1623377890735, + -16.404832903208188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1943.1623377890735, + -19.404832903208188, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1932.0, + -56.0, + 64.6317 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-18-50_1066077375/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-18-50_1066077375/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de4a2bdb262b3b3b0ebc00d86fff24ca939c4a13 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-18-50_1066077375/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1371.2719988200297, + -72.45767031291719, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1374.2719988200297, + -72.45767031291719, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1377.2719988200297, + -72.45767031291719, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1380.2719988200297, + -72.45767031291719, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1488.0, + -52.0, + 18.9243 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-19-48_1959343768/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-19-48_1959343768/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b7a70fbc5fb74ab1a3737601c4d5177d53e77d8a --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-19-48_1959343768/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1481.8006114921732, + 576.6903671245991, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1480.3006114921732, + 579.2884433359525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1478.8006114921732, + 581.8865195473059, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1477.3006114921732, + 584.4845957586592, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1475.8006114921732, + 587.0826719700126, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1474.3006114921732, + 589.680748181366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1472.8006114921732, + 592.2788243927193, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1471.3006114921732, + 594.8769006040727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1469.8006114921732, + 597.4749768154261, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1468.3006114921732, + 600.0730530267795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1466.8006114921732, + 602.6711292381328, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1465.3006114921732, + 605.2692054494862, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1463.8006114921732, + 607.8672816608396, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1462.3006114921732, + 610.465357872193, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.0, + 664.0, + 215.281 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-24-49_733327814/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-24-49_733327814/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cdacf3a1c973c3d82bea259d2eae1893251b26fd --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-24-49_733327814/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1430.6728856066038, + 173.2627546997634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1432.1728856066038, + 175.86083091111672, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1433.6728856066038, + 178.45890712247004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1435.1728856066038, + 181.05698333382335, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1436.6728856066038, + 183.65505954517667, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1438.1728856066038, + 186.25313575652999, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1439.6728856066038, + 188.8512119678833, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1441.1728856066038, + 191.44928817923662, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1442.6728856066038, + 194.04736439058993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1444.1728856066038, + 196.64544060194325, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1445.6728856066038, + 199.24351681329657, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1447.1728856066038, + 201.84159302464988, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1448.6728856066038, + 204.4396692360032, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1450.1728856066038, + 207.0377454473565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1451.6728856066038, + 209.63582165870983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1453.1728856066038, + 212.23389787006315, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1454.6728856066038, + 214.83197408141646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1456.1728856066038, + 217.43005029276978, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1457.6728856066038, + 220.0281265041231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1459.1728856066038, + 222.6262027154764, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1459.1728856066038, + 222.6262027154764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1459.1728856066038, + 225.6262027154764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1459.1728856066038, + 228.6262027154764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1459.1728856066038, + 231.6262027154764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1459.1728856066038, + 234.6262027154764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1459.1728856066038, + 237.6262027154764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1459.1728856066038, + 240.6262027154764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1459.1728856066038, + 243.6262027154764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1459.1728856066038, + 246.6262027154764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1459.1728856066038, + 249.6262027154764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1459.1728856066038, + 252.6262027154764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1459.1728856066038, + 255.6262027154764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1459.1728856066038, + 258.62620271547644, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1472.0, + 304.0, + 103.299 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-32-18_1260596963/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-32-18_1260596963/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1b527cfe8cb13a17bff5b79f0551a4fc7419fe6c --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-32-18_1260596963/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1728.8207865315412, + 60.8102486937684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1731.8207865315412, + 60.8102486937684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1734.8207865315412, + 60.8102486937684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1737.8207865315412, + 60.8102486937684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1740.8207865315412, + 60.8102486937684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1743.8207865315412, + 60.8102486937684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1746.8207865315412, + 60.8102486937684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1749.8207865315412, + 60.8102486937684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1752.8207865315412, + 60.8102486937684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1755.8207865315412, + 60.8102486937684, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1755.8207865315412, + 60.8102486937684, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1755.8207865315412, + 60.8102486937684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1757.3207865315412, + 58.212172482415085, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1758.8207865315412, + 55.61409627106177, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1760.3207865315412, + 53.01602005970845, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1760.3207865315412, + 53.01602005970845, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1762.9188627428946, + 51.51602005970845, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1765.516938954248, + 50.01602005970845, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1768.1150151656013, + 48.51602005970845, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1770.7130913769547, + 47.01602005970845, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1773.311167588308, + 45.51602005970845, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1775.9092437996615, + 44.01602005970845, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1778.5073200110148, + 42.51602005970845, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1781.1053962223682, + 41.01602005970845, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1783.7034724337216, + 39.51602005970845, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1786.301548645075, + 38.01602005970845, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1788.8996248564283, + 36.51602005970845, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1791.4977010677817, + 35.01602005970845, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1794.095777279135, + 33.51602005970845, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1796.6938534904884, + 32.01602005970845, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1799.2919297018418, + 30.516020059708453, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1801.8900059131952, + 29.016020059708453, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1804.4880821245486, + 27.516020059708453, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1807.086158335902, + 26.016020059708453, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1828.0, + 20.0, + 28.504 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-33-59_1988714904/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-33-59_1988714904/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d9cf3a08bb13cdda0e0d49fbe120f014bfb8bd2 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-33-59_1988714904/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1697.0095600945751, + -35.289358322479785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1700.0095600945751, + -35.289358322479785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1703.0095600945751, + -35.289358322479785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1706.0095600945751, + -35.289358322479785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1709.0095600945751, + -35.289358322479785, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1709.0095600945751, + -35.289358322479785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1711.6076363059285, + -33.789358322479785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1714.2057125172819, + -32.289358322479785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1716.8037887286353, + -30.789358322479785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1719.4018649399886, + -29.289358322479785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1721.999941151342, + -27.789358322479785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1724.5980173626954, + -26.289358322479785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1727.1960935740487, + -24.789358322479785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1729.7941697854021, + -23.289358322479785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1732.3922459967555, + -21.789358322479785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1734.9903222081089, + -20.289358322479785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1737.5883984194622, + -18.789358322479785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1740.1864746308156, + -17.289358322479785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1742.784550842169, + -15.789358322479785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1745.3826270535224, + -14.289358322479785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1747.9807032648757, + -12.789358322479785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1750.578779476229, + -11.289358322479785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1753.1768556875825, + -9.789358322479785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1755.7749318989358, + -8.289358322479785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1758.3730081102892, + -6.789358322479785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1760.9710843216426, + -5.289358322479785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1763.569160532996, + -3.789358322479785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1766.1672367443493, + -2.289358322479785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1768.7653129557027, + -0.7893583224797853, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1768.7653129557027, + -0.7893583224797853, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1771.7653129557027, + -0.7893583224797853, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1774.7653129557027, + -0.7893583224797853, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1777.7653129557027, + -0.7893583224797853, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1780.7653129557027, + -0.7893583224797853, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1783.7653129557027, + -0.7893583224797853, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1783.7653129557027, + -0.7893583224797853, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1783.7653129557027, + -0.7893583224797853, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1785.2653129557027, + 1.8087178888735307, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1785.2653129557027, + 1.8087178888735307, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1787.863389167056, + 3.3087178888735305, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1790.4614653784095, + 4.80871788887353, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1793.0595415897628, + 6.30871788887353, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1795.6576178011162, + 7.80871788887353, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1828.0, + 20.0, + 28.504 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-35-1_1566369633/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-35-1_1566369633/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..19ad355f9b2a2b5948e828155e7f3aca210b661d --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-35-1_1566369633/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 865.4665776097577, + -129.5785604528001, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 866.9665776097577, + -126.98048424144679, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 868.4665776097577, + -124.38240803009347, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 869.9665776097577, + -121.78433181874016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 871.4665776097577, + -119.18625560738684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 872.9665776097577, + -116.58817939603352, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 874.4665776097577, + -113.99010318468021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 875.9665776097577, + -111.39202697332689, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 877.4665776097577, + -108.79395076197358, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 878.9665776097577, + -106.19587455062026, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 880.4665776097577, + -103.59779833926694, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 881.9665776097577, + -100.99972212791363, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 883.4665776097577, + -98.40164591656031, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 884.9665776097577, + -95.803569705207, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 928.0, + -32.0, + 19.9495 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-35-28_567304789/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-35-28_567304789/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e0b5f4d2a7a84d3236a4b8e095c9c3271a2599a9 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-35-28_567304789/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1766.6502190697684, + -95.6690003270013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1768.1502190697684, + -93.07092411564798, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1769.6502190697684, + -90.47284790429467, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1771.1502190697684, + -87.87477169294135, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1772.6502190697684, + -85.27669548158804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1774.1502190697684, + -82.67861927023472, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1775.6502190697684, + -80.0805430588814, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1777.1502190697684, + -77.48246684752809, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1778.6502190697684, + -74.88439063617477, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1780.1502190697684, + -72.28631442482146, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1781.6502190697684, + -69.68823821346814, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1783.1502190697684, + -67.09016200211482, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1784.6502190697684, + -64.49208579076151, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1786.1502190697684, + -61.89400957940819, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1787.6502190697684, + -59.295933368054875, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1789.1502190697684, + -56.69785715670156, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1790.6502190697684, + -54.09978094534824, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1792.1502190697684, + -51.50170473399493, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1793.6502190697684, + -48.90362852264161, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1795.1502190697684, + -46.305552311288295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1796.6502190697684, + -43.70747609993498, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1798.1502190697684, + -41.10939988858166, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1799.6502190697684, + -38.51132367722835, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1801.1502190697684, + -35.91324746587503, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1802.6502190697684, + -33.315171254521715, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1804.1502190697684, + -30.7170950431684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1805.6502190697684, + -28.119018831815083, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1807.1502190697684, + -25.520942620461767, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1808.6502190697684, + -22.92286640910845, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1810.1502190697684, + -20.324790197755135, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1811.6502190697684, + -17.72671398640182, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1813.1502190697684, + -15.128637775048503, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1814.6502190697684, + -12.530561563695187, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1814.6502190697684, + -12.530561563695187, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1814.6502190697684, + -9.530561563695187, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1814.6502190697684, + -6.530561563695187, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1814.6502190697684, + -3.530561563695187, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1828.0, + 20.0, + 28.504 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-4-13_521035021/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-4-13_521035021/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..53acf48d83569cb0a43a318fea089ef72d5df31d --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-4-13_521035021/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -89.21217104329598, + 456.1105529193877, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -87.71217104329598, + 453.5124767080344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -86.21217104329598, + 450.9144004966811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -84.71217104329598, + 448.31632428532777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -83.21217104329598, + 445.71824807397445, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -81.71217104329598, + 443.12017186262113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -80.21217104329598, + 440.5220956512678, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -78.71217104329598, + 437.9240194399145, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -77.21217104329598, + 435.3259432285612, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -75.71217104329598, + 432.72786701720787, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -74.21217104329598, + 430.12979080585455, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -72.71217104329598, + 427.53171459450124, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -71.21217104329598, + 424.9336383831479, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -69.71217104329598, + 422.3355621717946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -68.21217104329598, + 419.7374859604413, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -66.71217104329598, + 417.139409749088, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -65.21217104329598, + 414.54133353773466, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -63.71217104329598, + 411.94325732638134, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -62.21217104329598, + 409.345181115028, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -60.71217104329598, + 406.7471049036747, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -59.21217104329598, + 404.1490286923214, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -57.71217104329598, + 401.5509524809681, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -57.71217104329598, + 401.5509524809681, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -55.114094831942666, + 400.0509524809681, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -52.51601862058935, + 398.5509524809681, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -49.91794240923603, + 397.0509524809681, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -47.31986619788272, + 395.5509524809681, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -44.7217899865294, + 394.0509524809681, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -42.123713775176086, + 392.5509524809681, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -28.0, + 372.0, + 30.9954 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-44-16_550245196/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-44-16_550245196/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f06ddfd4201cacfd734e94fbd7ebafb17a8b2c0d --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-44-16_550245196/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1914.3688624181814, + 78.77923353982521, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1914.3688624181814, + 75.77923353982521, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1914.3688624181814, + 72.77923353982521, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1914.3688624181814, + 69.77923353982521, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1914.3688624181814, + 66.77923353982521, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1914.3688624181814, + 63.77923353982521, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1914.3688624181814, + 60.77923353982521, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1914.3688624181814, + 57.77923353982521, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1914.3688624181814, + 54.77923353982521, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1914.3688624181814, + 51.77923353982521, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1914.3688624181814, + 48.77923353982521, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1914.3688624181814, + 45.77923353982521, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1914.3688624181814, + 42.77923353982521, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1914.3688624181814, + 39.77923353982521, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1914.3688624181814, + 36.77923353982521, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1914.3688624181814, + 33.77923353982521, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1914.3688624181814, + 30.779233539825213, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1914.3688624181814, + 27.779233539825213, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1914.3688624181814, + 24.779233539825213, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1914.3688624181814, + 21.779233539825213, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1914.3688624181814, + 18.779233539825213, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1914.3688624181814, + 15.779233539825213, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1914.3688624181814, + 12.779233539825213, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1914.3688624181814, + 9.779233539825213, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1914.3688624181814, + 6.7792335398252135, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1914.3688624181814, + 3.7792335398252135, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1914.3688624181814, + 0.7792335398252135, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1914.3688624181814, + 0.7792335398252135, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1915.8688624181814, + -1.8188426715281025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1917.3688624181814, + -4.4169188828814185, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1918.8688624181814, + -7.0149950942347346, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1920.3688624181814, + -9.61307130558805, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1921.8688624181814, + -12.211147516941367, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1923.3688624181814, + -14.809223728294683, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1924.8688624181814, + -17.407299939648, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1932.0, + -56.0, + 64.6317 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-44-36_157272379/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-44-36_157272379/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9346e6ea2f90f206766fb1ebe71c6c445cbb1c83 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-44-36_157272379/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1881.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1884.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1887.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1890.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1893.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1896.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1899.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1902.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1905.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1908.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1911.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1914.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1917.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1920.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1923.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1926.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1929.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1932.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1935.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1938.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1941.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1944.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1947.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1950.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1953.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1956.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1959.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1962.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1965.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1968.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1971.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1974.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1977.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1980.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1983.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1986.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1989.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1992.686890489315, + 98.98845967235921, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2012.0, + 96.0, + 2.4858 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-46-19_1763794427/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-46-19_1763794427/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3c59118ee78e8f802aa91ab06c856ab78fb9ca41 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-46-19_1763794427/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1531.1217319794698, + 28.49880429087449, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1532.6217319794698, + 25.900728079521173, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1534.1217319794698, + 23.302651868167857, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1535.6217319794698, + 20.70457565681454, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1537.1217319794698, + 18.106499445461225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1538.6217319794698, + 15.508423234107909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1540.1217319794698, + 12.910347022754593, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1541.6217319794698, + 10.312270811401277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1543.1217319794698, + 7.714194600047961, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1544.6217319794698, + 5.116118388694645, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1546.1217319794698, + 2.5180421773413286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1547.6217319794698, + -0.08003403401198739, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1549.1217319794698, + -2.6781102453653034, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1550.6217319794698, + -5.276186456718619, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1552.1217319794698, + -7.874262668071935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1553.6217319794698, + -10.472338879425251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1555.1217319794698, + -13.070415090778567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1556.6217319794698, + -15.668491302131883, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1558.1217319794698, + -18.2665675134852, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1559.6217319794698, + -20.864643724838515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1561.1217319794698, + -23.46271993619183, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1562.6217319794698, + -26.060796147545148, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1564.1217319794698, + -28.658872358898464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1565.6217319794698, + -31.25694857025178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1567.1217319794698, + -33.855024781605096, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1567.1217319794698, + -33.855024781605096, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1569.7198081908232, + -35.355024781605096, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1572.3178844021766, + -36.855024781605096, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1574.91596061353, + -38.355024781605096, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1577.5140368248833, + -39.855024781605096, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1580.1121130362367, + -41.355024781605096, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1582.71018924759, + -42.855024781605096, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1585.3082654589434, + -44.355024781605096, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1587.9063416702968, + -45.855024781605096, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1590.5044178816502, + -47.355024781605096, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1593.1024940930035, + -48.855024781605096, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1595.700570304357, + -50.355024781605096, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1598.2986465157103, + -51.855024781605096, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1612.0, + -68.0, + 34.3503 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-52-42_1527622954/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-52-42_1527622954/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..36a32dd79c836d7478f7e315c775635dce851242 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-52-42_1527622954/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1778.4999513820944, + 77.73607723788163, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1779.9999513820944, + 80.33415344923495, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1781.4999513820944, + 82.93222966058826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1782.9999513820944, + 85.53030587194158, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1784.4999513820944, + 88.1283820832949, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1785.9999513820944, + 90.72645829464821, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1787.4999513820944, + 93.32453450600153, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1788.9999513820944, + 95.92261071735484, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1790.4999513820944, + 98.52068692870816, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1791.9999513820944, + 101.11876314006147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1793.4999513820944, + 103.71683935141479, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1794.9999513820944, + 106.3149155627681, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1796.4999513820944, + 108.91299177412142, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1797.9999513820944, + 111.51106798547474, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1799.4999513820944, + 114.10914419682805, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1800.9999513820944, + 116.70722040818137, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1802.4999513820944, + 119.30529661953469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1803.9999513820944, + 121.903372830888, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1803.9999513820944, + 121.903372830888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1806.5980275934478, + 123.403372830888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1809.1961038048012, + 124.903372830888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1811.7941800161545, + 126.403372830888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1814.392256227508, + 127.903372830888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1816.9903324388613, + 129.403372830888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1819.5884086502147, + 130.903372830888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1822.186484861568, + 132.403372830888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1824.7845610729214, + 133.903372830888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1827.3826372842748, + 135.403372830888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1829.9807134956282, + 136.903372830888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1832.5787897069815, + 138.403372830888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1835.176865918335, + 139.903372830888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1837.7749421296883, + 141.403372830888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1840.3730183410416, + 142.903372830888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1842.971094552395, + 144.403372830888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1845.5691707637484, + 145.903372830888, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1868.0, + 168.0, + 104.903 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-13-53_1395405989/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-13-53_1395405989/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2119c970ae49b4e788d126b6d67dc9e0455579bb --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-13-53_1395405989/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 736.0522347627103, + 201.9106832593895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 736.0522347627103, + 198.9106832593895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 736.0522347627103, + 195.9106832593895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 736.0522347627103, + 192.9106832593895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 736.0522347627103, + 189.9106832593895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 736.0522347627103, + 186.9106832593895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 736.0522347627103, + 183.9106832593895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 736.0522347627103, + 180.9106832593895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 736.0522347627103, + 177.9106832593895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 736.0522347627103, + 174.9106832593895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 736.0522347627103, + 171.9106832593895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 736.0522347627103, + 168.9106832593895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 736.0522347627103, + 165.9106832593895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 736.0522347627103, + 162.9106832593895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 736.0522347627103, + 159.9106832593895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 736.0522347627103, + 156.9106832593895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 736.0522347627103, + 153.9106832593895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 736.0522347627103, + 150.9106832593895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 736.0522347627103, + 147.9106832593895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 736.0522347627103, + 144.9106832593895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 736.0522347627103, + 141.9106832593895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 736.0522347627103, + 138.9106832593895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 736.0522347627103, + 135.9106832593895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 736.0522347627103, + 132.9106832593895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 736.0522347627103, + 129.9106832593895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 736.0522347627103, + 126.91068325938949, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 736.0522347627103, + 123.91068325938949, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 736.0522347627103, + 120.91068325938949, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 736.0522347627103, + 117.91068325938949, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 736.0522347627103, + 114.91068325938949, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 736.0522347627103, + 111.91068325938949, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 736.0522347627103, + 108.91068325938949, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 736.0522347627103, + 105.91068325938949, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 736.0522347627103, + 102.91068325938949, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 736.0522347627103, + 99.91068325938949, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 736.0522347627103, + 96.91068325938949, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 736.0522347627103, + 96.91068325938949, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 737.5522347627103, + 94.31260704803617, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 739.0522347627103, + 91.71453083668285, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 740.0, + 68.0, + 34.5123 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-16-40_134591281/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-16-40_134591281/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da5393d24bf331d8db4dc08ef9e6cf3cb9ca7ff0 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-16-40_134591281/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 665.6298634063705, + 66.31804116347777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 663.0317871950172, + 67.81804116347777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 660.4337109836638, + 69.31804116347777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 657.8356347723104, + 70.81804116347777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 655.237558560957, + 72.31804116347777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 652.6394823496037, + 73.81804116347777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 650.0414061382503, + 75.31804116347777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 647.4433299268969, + 76.81804116347777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 644.8452537155435, + 78.31804116347777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 642.2471775041902, + 79.81804116347777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 639.6491012928368, + 81.31804116347777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 637.0510250814834, + 82.81804116347777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 634.4529488701301, + 84.31804116347777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 631.8548726587767, + 85.81804116347777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 629.2567964474233, + 87.31804116347777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 626.6587202360699, + 88.81804116347777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 624.0606440247166, + 90.31804116347777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 621.4625678133632, + 91.81804116347777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 618.8644916020098, + 93.31804116347777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 616.2664153906564, + 94.81804116347777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 613.6683391793031, + 96.31804116347777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 611.0702629679497, + 97.81804116347777, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 568.0, + 120.0, + 30.9312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-36-0_1447395528/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-36-0_1447395528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c3152ec17328a812161ba2291a2834876db115a3 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-36-0_1447395528/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 848.6446318785269, + 415.8843977476362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 851.6446318785269, + 415.8843977476362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 854.6446318785269, + 415.8843977476362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 857.6446318785269, + 415.8843977476362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 860.6446318785269, + 415.8843977476362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 863.6446318785269, + 415.8843977476362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 866.6446318785269, + 415.8843977476362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 869.6446318785269, + 415.8843977476362, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 869.6446318785269, + 415.8843977476362, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 869.6446318785269, + 415.8843977476362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 871.1446318785269, + 418.48247395898954, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 872.6446318785269, + 421.08055017034286, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 872.6446318785269, + 421.08055017034286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 875.2427080898801, + 422.58055017034286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 877.8407843012335, + 424.08055017034286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 880.4388605125869, + 425.58055017034286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 883.0369367239402, + 427.08055017034286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 885.6350129352936, + 428.58055017034286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 888.233089146647, + 430.08055017034286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 890.8311653580004, + 431.58055017034286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 893.4292415693537, + 433.08055017034286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 896.0273177807071, + 434.58055017034286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 898.6253939920605, + 436.08055017034286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 901.2234702034139, + 437.58055017034286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 903.8215464147672, + 439.08055017034286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 906.4196226261206, + 440.58055017034286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 909.017698837474, + 442.08055017034286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 911.6157750488273, + 443.58055017034286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 914.2138512601807, + 445.08055017034286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 916.8119274715341, + 446.58055017034286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 919.4100036828875, + 448.08055017034286, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 948.0, + 464.0, + 139.324 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-42-49_1304811783/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-42-49_1304811783/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6cf421ca63b842b75d118b2ed6219f414aff6d86 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-42-49_1304811783/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 857.2081007485223, + 148.58915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 854.610024537169, + 147.08915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 852.0119483258156, + 145.58915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 849.4138721144623, + 144.08915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 846.8157959031089, + 142.58915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 844.2177196917555, + 141.08915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 841.6196434804021, + 139.58915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 839.0215672690488, + 138.08915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 836.4234910576954, + 136.58915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 833.825414846342, + 135.08915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 831.2273386349887, + 133.58915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 828.6292624236353, + 132.08915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 826.0311862122819, + 130.58915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 823.4331100009285, + 129.08915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 820.8350337895752, + 127.58915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 818.2369575782218, + 126.08915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 815.6388813668684, + 124.58915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 813.040805155515, + 123.08915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 810.4427289441617, + 121.58915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 807.8446527328083, + 120.08915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 805.2465765214549, + 118.58915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 802.6485003101016, + 117.08915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 800.0504240987482, + 115.58915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 797.4523478873948, + 114.08915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 794.8542716760414, + 112.58915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 792.2561954646881, + 111.08915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 789.6581192533347, + 109.58915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 787.0600430419813, + 108.08915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 784.461966830628, + 106.58915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 781.8638906192746, + 105.08915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 779.2658144079212, + 103.58915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 776.6677381965678, + 102.08915747199512, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 776.6677381965678, + 102.08915747199512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 775.1677381965678, + 99.4910812606418, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 773.6677381965678, + 96.89300504928849, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 772.1677381965678, + 94.29492883793517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 770.6677381965678, + 91.69685262658186, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 769.1677381965678, + 89.09877641522854, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 767.6677381965678, + 86.50070020387523, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 766.1677381965678, + 83.90262399252191, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 740.0, + 68.0, + 34.5123 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-43-44_1610009097/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-43-44_1610009097/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2c877b3546bb2ae909277c21a4b12865a3cf7f6f --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-43-44_1610009097/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 197.67622816422573, + 201.56123521104539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 195.07815195287242, + 203.06123521104539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 192.4800757415191, + 204.56123521104539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 189.88199953016579, + 206.06123521104539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 187.28392331881247, + 207.56123521104539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 184.68584710745915, + 209.06123521104539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 182.08777089610584, + 210.56123521104539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 179.48969468475252, + 212.06123521104539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 176.8916184733992, + 213.56123521104539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 174.2935422620459, + 215.06123521104539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 171.69546605069257, + 216.56123521104539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 169.09738983933926, + 218.06123521104539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 166.49931362798594, + 219.56123521104539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 163.90123741663263, + 221.06123521104539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 161.3031612052793, + 222.56123521104539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 158.705084993926, + 224.06123521104539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 156.10700878257268, + 225.56123521104539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 153.50893257121936, + 227.06123521104539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 150.91085635986605, + 228.56123521104539, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 88.0, + 260.0, + 17.1304 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-43-56_856363827/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-43-56_856363827/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e59bd6a9d8dfd86cba44d806fe6447d9d30b4a72 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-43-56_856363827/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1351.8933306359231, + 909.9032165616374, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1353.3933306359231, + 907.3051403502841, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1354.8933306359231, + 904.7070641389307, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1356.3933306359231, + 902.1089879275773, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1357.8933306359231, + 899.510911716224, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1359.3933306359231, + 896.9128355048706, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1360.8933306359231, + 894.3147592935172, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1362.3933306359231, + 891.7166830821639, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1363.8933306359231, + 889.1186068708105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1365.3933306359231, + 886.5205306594571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1366.8933306359231, + 883.9224544481037, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1368.3933306359231, + 881.3243782367504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1369.8933306359231, + 878.726302025397, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1371.3933306359231, + 876.1282258140436, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1372.8933306359231, + 873.5301496026902, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1374.3933306359231, + 870.9320733913369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1375.8933306359231, + 868.3339971799835, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1377.3933306359231, + 865.7359209686301, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1378.8933306359231, + 863.1378447572768, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1380.3933306359231, + 860.5397685459234, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1381.8933306359231, + 857.94169233457, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1383.3933306359231, + 855.3436161232166, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1383.3933306359231, + 855.3436161232166, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1385.9914068472765, + 853.8436161232166, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1388.5894830586299, + 852.3436161232166, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1391.1875592699832, + 850.8436161232166, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1393.7856354813366, + 849.3436161232166, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1396.38371169269, + 847.8436161232166, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1398.9817879040434, + 846.3436161232166, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1401.5798641153967, + 844.8436161232166, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1404.17794032675, + 843.3436161232166, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1404.17794032675, + 843.3436161232166, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1405.67794032675, + 840.7455399118633, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.047197551196588 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.0, + 808.0, + 102.413 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-44-33_846621269/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-44-33_846621269/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d9f2e59fc3510f522506dfac2fff5537b8976e38 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-44-33_846621269/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 994.259812108836, + 875.883465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 997.259812108836, + 875.883465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1000.259812108836, + 875.883465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1003.259812108836, + 875.883465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1006.259812108836, + 875.883465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1009.259812108836, + 875.883465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1012.259812108836, + 875.883465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1015.259812108836, + 875.883465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1018.259812108836, + 875.883465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1021.259812108836, + 875.883465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1024.2598121088358, + 875.883465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1027.2598121088358, + 875.883465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1030.2598121088358, + 875.883465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1033.2598121088358, + 875.883465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1036.2598121088358, + 875.883465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1039.2598121088358, + 875.883465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1042.2598121088358, + 875.883465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1045.2598121088358, + 875.883465656178, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1045.2598121088358, + 875.883465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1047.8578883201892, + 877.383465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1050.4559645315426, + 878.883465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1053.054040742896, + 880.383465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1055.6521169542493, + 881.883465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1058.2501931656027, + 883.383465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1060.848269376956, + 884.883465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1063.4463455883094, + 886.383465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1066.0444217996628, + 887.883465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1068.6424980110162, + 889.383465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1071.2405742223696, + 890.883465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1073.838650433723, + 892.383465656178, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1073.838650433723, + 892.383465656178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1076.838650433723, + 892.383465656178, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1096.0, + 896.0, + 34.2564 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-44-50_584522071/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-44-50_584522071/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..735042ac4013ea45d30f5e5dfd0b31126741ffd7 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-44-50_584522071/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1829.1783618494442, + 772.2812772123898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1832.1783618494442, + 772.2812772123898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1835.1783618494442, + 772.2812772123898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1838.1783618494442, + 772.2812772123898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1841.1783618494442, + 772.2812772123898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1844.1783618494442, + 772.2812772123898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1847.1783618494442, + 772.2812772123898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1850.1783618494442, + 772.2812772123898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1853.1783618494442, + 772.2812772123898, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1853.1783618494442, + 772.2812772123898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1855.7764380607975, + 773.7812772123898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1858.374514272151, + 775.2812772123898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1860.9725904835043, + 776.7812772123898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1863.5706666948577, + 778.2812772123898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1866.168742906211, + 779.7812772123898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1868.7668191175644, + 781.2812772123898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1871.3648953289178, + 782.7812772123898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1873.9629715402712, + 784.2812772123898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1876.5610477516245, + 785.7812772123898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1879.159123962978, + 787.2812772123898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1881.7572001743313, + 788.7812772123898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1884.3552763856846, + 790.2812772123898, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1936.0, + 812.0, + 160.906 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-45-54_928140528/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-45-54_928140528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1f47e30633cf40d0c2fab3a5250bad867a1e1a1c --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-45-54_928140528/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 488.7051342265462, + 10.784003577631637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 490.2051342265462, + 8.185927366278321, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 491.7051342265462, + 5.587851154925005, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 493.2051342265462, + 2.989774943571689, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 494.7051342265462, + 0.3916987322183729, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 496.2051342265462, + -2.206377479134943, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 497.7051342265462, + -4.804453690488259, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 499.2051342265462, + -7.402529901841575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 500.7051342265462, + -10.000606113194891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 502.2051342265462, + -12.598682324548207, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 503.7051342265462, + -15.196758535901523, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 505.2051342265462, + -17.79483474725484, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 506.7051342265462, + -20.392910958608155, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 508.2051342265462, + -22.99098716996147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 509.7051342265462, + -25.589063381314787, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 511.2051342265462, + -28.187139592668103, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 512.7051342265462, + -30.78521580402142, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 514.2051342265462, + -33.383292015374735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 515.7051342265462, + -35.98136822672805, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 517.2051342265462, + -38.57944443808137, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 518.7051342265462, + -41.17752064943468, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 520.2051342265462, + -43.775596860788, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 521.7051342265462, + -46.373673072141315, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 523.2051342265462, + -48.97174928349463, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 524.7051342265462, + -51.56982549484795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 526.2051342265462, + -54.16790170620126, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 527.7051342265462, + -56.76597791755458, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 529.2051342265462, + -59.364054128907895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 530.7051342265462, + -61.96213034026121, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 532.2051342265462, + -64.56020655161453, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 533.7051342265462, + -67.15828276296784, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 535.2051342265462, + -69.75635897432116, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 536.7051342265462, + -72.35443518567448, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 538.2051342265462, + -74.95251139702779, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 539.7051342265462, + -77.55058760838111, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 539.7051342265462, + -77.55058760838111, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 539.7051342265462, + -80.55058760838111, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 539.7051342265462, + -83.55058760838111, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 539.7051342265462, + -86.55058760838111, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 539.7051342265462, + -89.55058760838111, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 539.7051342265462, + -92.55058760838111, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 539.7051342265462, + -95.55058760838111, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 539.7051342265462, + -98.55058760838111, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 539.7051342265462, + -101.55058760838111, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 548.0, + -120.0, + 50.6383 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-51-33_6072641/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-51-33_6072641/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d5f139a51855dac9bf149247c4fc5f112c170222 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-51-33_6072641/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 780.6722897107825, + 190.7929476479309, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 779.1722897107825, + 188.19487143657759, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 777.6722897107825, + 185.59679522522427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 776.1722897107825, + 182.99871901387095, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 774.6722897107825, + 180.40064280251764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 773.1722897107825, + 177.80256659116432, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 771.6722897107825, + 175.204490379811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 770.1722897107825, + 172.6064141684577, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 768.6722897107825, + 170.00833795710437, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 767.1722897107825, + 167.41026174575106, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 765.6722897107825, + 164.81218553439774, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 764.1722897107825, + 162.21410932304443, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 762.6722897107825, + 159.6160331116911, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 761.1722897107825, + 157.0179569003378, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 759.6722897107825, + 154.41988068898448, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 758.1722897107825, + 151.82180447763116, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 756.6722897107825, + 149.22372826627785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 755.1722897107825, + 146.62565205492453, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 753.6722897107825, + 144.0275758435712, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 752.1722897107825, + 141.4294996322179, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 750.6722897107825, + 138.83142342086458, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 749.1722897107825, + 136.23334720951127, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 747.6722897107825, + 133.63527099815795, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 747.6722897107825, + 133.63527099815795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 747.6722897107825, + 130.63527099815795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 747.6722897107825, + 127.63527099815795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 747.6722897107825, + 124.63527099815795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 747.6722897107825, + 121.63527099815795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 747.6722897107825, + 118.63527099815795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 747.6722897107825, + 115.63527099815795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 747.6722897107825, + 112.63527099815795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 747.6722897107825, + 109.63527099815795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 747.6722897107825, + 106.63527099815795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 747.6722897107825, + 103.63527099815795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 747.6722897107825, + 100.63527099815795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 747.6722897107825, + 97.63527099815795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 747.6722897107825, + 94.63527099815795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 747.6722897107825, + 91.63527099815795, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 740.0, + 68.0, + 34.5123 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-56-52_1528806445/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-56-52_1528806445/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f99feb6247d25830afdbcb414a3f712fe7dedcd9 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-56-52_1528806445/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 630.7096449341716, + -126.01096169612396, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 629.2096449341716, + -128.60903790747727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 627.7096449341716, + -131.2071141188306, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 626.2096449341716, + -133.8051903301839, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 624.7096449341716, + -136.40326654153722, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 623.2096449341716, + -139.00134275289054, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 621.7096449341716, + -141.59941896424385, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 620.2096449341716, + -144.19749517559717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 618.7096449341716, + -146.79557138695048, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 617.2096449341716, + -149.3936475983038, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 615.7096449341716, + -151.99172380965712, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 614.2096449341716, + -154.58980002101043, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 612.7096449341716, + -157.18787623236375, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 611.2096449341716, + -159.78595244371706, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 609.7096449341716, + -162.38402865507038, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 608.2096449341716, + -164.9821048664237, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 606.7096449341716, + -167.580181077777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 605.2096449341716, + -170.17825728913033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 603.7096449341716, + -172.77633350048364, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 602.2096449341716, + -175.37440971183696, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 600.7096449341716, + -177.97248592319028, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 599.2096449341716, + -180.5705621345436, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 597.7096449341716, + -183.1686383458969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 596.2096449341716, + -185.76671455725022, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 594.7096449341716, + -188.36479076860354, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 594.7096449341716, + -188.36479076860354, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 592.1115687228182, + -189.86479076860354, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 589.5134925114648, + -191.36479076860354, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 586.9154163001115, + -192.86479076860354, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 584.3173400887581, + -194.36479076860354, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 581.7192638774047, + -195.86479076860354, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 579.1211876660514, + -197.36479076860354, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 564.0, + -220.0, + 16.8381 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-57-30_415522325/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-57-30_415522325/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1438e1aa0a12501742f58df7c1b05e555b87ab97 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-57-30_415522325/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 105.89561766482326, + 84.65468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 108.89561766482326, + 84.65468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 111.89561766482326, + 84.65468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 114.89561766482326, + 84.65468573500723, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 114.89561766482326, + 84.65468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 117.49369387617658, + 86.15468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 120.0917700875299, + 87.65468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 122.68984629888321, + 89.15468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 125.28792251023653, + 90.65468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 127.88599872158984, + 92.15468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 130.48407493294314, + 93.65468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983013 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 133.08215114429646, + 95.15468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 135.68022735564978, + 96.65468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 138.2783035670031, + 98.15468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 140.8763797783564, + 99.65468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 143.47445598970972, + 101.15468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 146.07253220106304, + 102.65468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 148.67060841241636, + 104.15468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 151.26868462376967, + 105.65468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 153.866760835123, + 107.15468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 156.4648370464763, + 108.65468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 159.06291325782962, + 110.15468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 161.66098946918294, + 111.65468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 164.25906568053625, + 113.15468573500723, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 164.25906568053625, + 113.15468573500723, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 164.25906568053625, + 113.15468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 164.25906568053625, + 116.15468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 164.25906568053625, + 119.15468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 164.25906568053625, + 122.15468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 164.25906568053625, + 125.15468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 164.25906568053625, + 128.15468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 164.25906568053625, + 131.15468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 164.25906568053625, + 134.15468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 164.25906568053625, + 137.15468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 164.25906568053625, + 140.15468573500723, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 164.25906568053625, + 140.15468573500723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 165.75906568053625, + 142.75276194636055, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 167.25906568053625, + 145.35083815771387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 168.75906568053625, + 147.94891436906718, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 188.0, + 168.0, + 23.6083 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-59-9_745598382/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-59-9_745598382/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac14fa262bc020fb8e10d97e096479d9b063f22d --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-59-9_745598382/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1935.7150997922986, + 134.5236085835715, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1937.2150997922986, + 131.92553237221819, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1938.7150997922986, + 129.32745616086487, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1940.2150997922986, + 126.72937994951155, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1941.7150997922986, + 124.13130373815824, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1943.2150997922986, + 121.53322752680492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1944.7150997922986, + 118.9351513154516, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1946.2150997922986, + 116.33707510409829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1947.7150997922986, + 113.73899889274497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1949.2150997922986, + 111.14092268139166, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1950.7150997922986, + 108.54284647003834, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1952.2150997922986, + 105.94477025868503, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1953.7150997922986, + 103.34669404733171, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1955.2150997922986, + 100.7486178359784, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1956.7150997922986, + 98.15054162462508, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1958.2150997922986, + 95.55246541327176, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1959.7150997922986, + 92.95438920191845, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1961.2150997922986, + 90.35631299056513, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1962.7150997922986, + 87.75823677921181, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1964.2150997922986, + 85.1601605678585, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1965.7150997922986, + 82.56208435650518, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1967.2150997922986, + 79.96400814515187, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1968.7150997922986, + 77.36593193379855, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1970.2150997922986, + 74.76785572244523, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1971.7150997922986, + 72.16977951109192, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1973.2150997922986, + 69.5717032997386, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1973.2150997922986, + 69.5717032997386, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1975.813176003652, + 68.0717032997386, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1978.4112522150053, + 66.5717032997386, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1981.0093284263587, + 65.0717032997386, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1983.607404637712, + 63.5717032997386, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1986.2054808490655, + 62.0717032997386, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1988.8035570604188, + 60.5717032997386, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1991.4016332717722, + 59.0717032997386, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1993.9997094831256, + 57.5717032997386, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1996.597785694479, + 56.0717032997386, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2012.0, + 40.0, + 2.59066 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-9-30_1135771559/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-9-30_1135771559/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..71c4895b5386222750ae131ed01a287064a01cea --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-9-30_1135771559/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 679.0027363726646, + 512.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 682.0027363726646, + 512.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 685.0027363726646, + 512.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 688.0027363726646, + 512.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 691.0027363726646, + 512.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 694.0027363726646, + 512.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 697.0027363726646, + 512.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 700.0027363726646, + 512.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 703.0027363726646, + 512.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 706.0027363726646, + 512.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 709.0027363726646, + 512.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 712.0027363726646, + 512.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 715.0027363726646, + 512.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 718.0027363726646, + 512.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 721.0027363726646, + 512.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 724.0027363726646, + 512.8968497821578, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 724.0027363726646, + 512.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 726.6008125840178, + 511.3968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 729.1988887953712, + 509.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 731.7969650067246, + 508.3968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 734.395041218078, + 506.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 736.9931174294313, + 505.3968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 739.5911936407847, + 503.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 742.1892698521381, + 502.3968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 744.7873460634914, + 500.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 747.3854222748448, + 499.3968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 749.9834984861982, + 497.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 752.5815746975516, + 496.3968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 755.1796509089049, + 494.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 757.7777271202583, + 493.3968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 760.3758033316117, + 491.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 762.973879542965, + 490.3968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 765.5719557543184, + 488.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 768.1700319656718, + 487.3968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 770.7681081770252, + 485.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 773.3661843883785, + 484.3968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 775.9642605997319, + 482.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 778.5623368110853, + 481.3968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 781.1604130224387, + 479.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 783.758489233792, + 478.3968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 786.3565654451454, + 476.8968497821578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 788.9546416564988, + 475.3968497821578, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 820.0, + 468.0, + 126.263 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-17-9_158136104/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-17-9_158136104/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..976d6916746c296f4ed30bab56f23c4d4f83be60 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-17-9_158136104/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1092.2719150507332, + 775.5319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1095.2719150507332, + 775.5319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1098.2719150507332, + 775.5319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1101.2719150507332, + 775.5319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1104.2719150507332, + 775.5319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1107.2719150507332, + 775.5319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1110.2719150507332, + 775.5319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1113.2719150507332, + 775.5319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1116.2719150507332, + 775.5319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1119.2719150507332, + 775.5319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1122.2719150507332, + 775.5319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1125.2719150507332, + 775.5319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1128.2719150507332, + 775.5319884569517, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1128.2719150507332, + 775.5319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1130.8699912620866, + 777.0319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1133.46806747344, + 778.5319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1136.0661436847934, + 780.0319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1138.6642198961467, + 781.5319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1141.2622961075, + 783.0319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1143.8603723188535, + 784.5319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1146.4584485302069, + 786.0319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1149.0565247415602, + 787.5319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1151.6546009529136, + 789.0319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1154.252677164267, + 790.5319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1156.8507533756203, + 792.0319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1159.4488295869737, + 793.5319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1162.046905798327, + 795.0319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1164.6449820096805, + 796.5319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1167.2430582210338, + 798.0319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1169.8411344323872, + 799.5319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1172.4392106437406, + 801.0319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1175.037286855094, + 802.5319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1177.6353630664473, + 804.0319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1180.2334392778007, + 805.5319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1182.831515489154, + 807.0319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1185.4295917005074, + 808.5319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1188.0276679118608, + 810.0319884569517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1190.6257441232142, + 811.5319884569517, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1208.0, + 820.0, + 17.114 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-19-5_1209734969/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-19-5_1209734969/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..785230ca88c1144583fd196dc719b0cfe421b44a --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-19-5_1209734969/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1570.82156986077, + -38.261786369645506, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1570.82156986077, + -41.261786369645506, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1570.82156986077, + -44.261786369645506, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1570.82156986077, + -47.261786369645506, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1570.82156986077, + -50.261786369645506, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1570.82156986077, + -53.261786369645506, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1570.82156986077, + -56.261786369645506, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1570.82156986077, + -59.261786369645506, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1570.82156986077, + -62.261786369645506, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1570.82156986077, + -65.2617863696455, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1570.82156986077, + -68.2617863696455, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1570.82156986077, + -71.2617863696455, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1570.82156986077, + -74.2617863696455, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1570.82156986077, + -77.2617863696455, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1570.82156986077, + -80.2617863696455, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1570.82156986077, + -83.2617863696455, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1570.82156986077, + -86.2617863696455, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1570.82156986077, + -89.2617863696455, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1570.82156986077, + -92.2617863696455, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1570.82156986077, + -95.2617863696455, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1570.82156986077, + -98.2617863696455, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1570.82156986077, + -101.2617863696455, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1570.82156986077, + -104.2617863696455, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1570.82156986077, + -107.2617863696455, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1570.82156986077, + -110.2617863696455, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1570.82156986077, + -113.2617863696455, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1570.82156986077, + -116.2617863696455, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1570.82156986077, + -116.2617863696455, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1569.32156986077, + -118.85986258099882, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1567.82156986077, + -121.45793879235214, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1566.32156986077, + -124.05601500370545, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1564.82156986077, + -126.65409121505877, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1563.32156986077, + -129.2521674264121, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1561.82156986077, + -131.8502436377654, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1560.32156986077, + -134.44831984911872, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1558.82156986077, + -137.04639606047203, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1557.32156986077, + -139.64447227182535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1555.82156986077, + -142.24254848317867, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1554.32156986077, + -144.84062469453198, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1552.82156986077, + -147.4387009058853, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1548.0, + -168.0, + 5.86359 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-29-46_929588156/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-29-46_929588156/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..00766ec54d05832345e7e8e30e67f198d4ace7e2 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-29-46_929588156/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1852.7702635548003, + -126.73210960680535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1855.3683397661537, + -125.23210960680535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1857.966415977507, + -123.73210960680535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1860.5644921888604, + -122.23210960680535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1863.1625684002138, + -120.73210960680535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1865.7606446115672, + -119.23210960680535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1868.3587208229205, + -117.73210960680535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1870.956797034274, + -116.23210960680535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1873.5548732456273, + -114.73210960680535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1876.1529494569807, + -113.23210960680535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1878.751025668334, + -111.73210960680535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1881.3491018796874, + -110.23210960680535, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1881.3491018796874, + -110.23210960680535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1882.8491018796874, + -107.63403339545204, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1884.3491018796874, + -105.03595718409872, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1885.8491018796874, + -102.4378809727454, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1887.3491018796874, + -99.83980476139209, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1888.8491018796874, + -97.24172855003877, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1890.3491018796874, + -94.64365233868546, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1891.8491018796874, + -92.04557612733214, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1893.3491018796874, + -89.44749991597882, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1932.0, + -56.0, + 64.6317 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-4-22_915711850/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-4-22_915711850/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f1f68b013163e8adfb4a3c7073db2dc1c60ee46 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-4-22_915711850/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1332.3700854616388, + 777.9547642083758, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1335.3700854616388, + 777.9547642083758, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1338.3700854616388, + 777.9547642083758, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1338.3700854616388, + 777.9547642083758, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1338.3700854616388, + 777.9547642083758, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1339.8700854616388, + 775.3566879970224, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1341.3700854616388, + 772.758611785669, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1342.8700854616388, + 770.1605355743156, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1344.3700854616388, + 767.5624593629623, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1345.8700854616388, + 764.9643831516089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1347.3700854616388, + 762.3663069402555, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1348.8700854616388, + 759.7682307289022, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1350.3700854616388, + 757.1701545175488, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1351.8700854616388, + 754.5720783061954, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1353.3700854616388, + 751.974002094842, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1354.8700854616388, + 749.3759258834887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1356.3700854616388, + 746.7778496721353, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1357.8700854616388, + 744.1797734607819, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1359.3700854616388, + 741.5816972494285, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1360.8700854616388, + 738.9836210380752, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1362.3700854616388, + 736.3855448267218, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1363.8700854616388, + 733.7874686153684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1365.3700854616388, + 731.189392404015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1366.8700854616388, + 728.5913161926617, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1368.3700854616388, + 725.9932399813083, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1369.8700854616388, + 723.3951637699549, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1369.8700854616388, + 723.3951637699549, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1372.4681616729922, + 721.8951637699549, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1375.0662378843456, + 720.3951637699549, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1377.664314095699, + 718.8951637699549, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1380.2623903070523, + 717.3951637699549, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1382.8604665184057, + 715.8951637699549, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1385.458542729759, + 714.3951637699549, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.0, + 664.0, + 215.281 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-45-51_518434573/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-45-51_518434573/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..58fa2ef0e6364e81407febdd28705eeb232f321b --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-45-51_518434573/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1926.8234217085803, + 323.8867093110316, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1929.4214979199337, + 322.3867093110316, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1932.019574131287, + 320.8867093110316, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1932.019574131287, + 320.8867093110316, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1935.019574131287, + 320.8867093110316, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1938.019574131287, + 320.8867093110316, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1941.019574131287, + 320.8867093110316, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1944.019574131287, + 320.8867093110316, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1944.019574131287, + 320.8867093110316, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1946.6176503426404, + 322.3867093110316, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1949.2157265539938, + 323.8867093110316, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1951.8138027653472, + 325.3867093110316, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1954.4118789767006, + 326.8867093110316, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1954.4118789767006, + 326.8867093110316, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1955.9118789767006, + 329.4847855223849, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1957.4118789767006, + 332.08286173373824, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1958.9118789767006, + 334.68093794509156, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1960.4118789767006, + 337.2790141564449, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1961.9118789767006, + 339.8770903677982, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1963.4118789767006, + 342.4751665791515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1964.9118789767006, + 345.0732427905048, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1966.4118789767006, + 347.67131900185814, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1967.9118789767006, + 350.26939521321145, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1969.4118789767006, + 352.86747142456477, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1970.9118789767006, + 355.4655476359181, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1972.4118789767006, + 358.0636238472714, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1973.9118789767006, + 360.6617000586247, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1975.4118789767006, + 363.25977626997803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1976.9118789767006, + 365.85785248133135, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1978.4118789767006, + 368.45592869268467, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1979.9118789767006, + 371.054004904038, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1981.4118789767006, + 373.6520811153913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1982.9118789767006, + 376.2501573267446, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1984.4118789767006, + 378.84823353809793, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1985.9118789767006, + 381.44630974945125, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1987.4118789767006, + 384.04438596080456, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2004.0, + 400.0, + 26.235 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-51-29_28264029/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-51-29_28264029/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1165ed9f34bbd35a68ab0f69fd826ae6bbe1b6c1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-51-29_28264029/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1920.6066943572432, + 396.6867836442084, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1923.6066943572432, + 396.6867836442084, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1923.6066943572432, + 396.6867836442084, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1923.6066943572432, + 396.6867836442084, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1925.1066943572432, + 399.2848598555617, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1926.6066943572432, + 401.882936066915, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1928.1066943572432, + 404.48101227826834, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1929.6066943572432, + 407.07908848962165, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1931.1066943572432, + 409.67716470097497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1932.6066943572432, + 412.2752409123283, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1934.1066943572432, + 414.8733171236816, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1935.6066943572432, + 417.4713933350349, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1937.1066943572432, + 420.06946954638823, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1938.6066943572432, + 422.66754575774155, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1940.1066943572432, + 425.26562196909487, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1941.6066943572432, + 427.8636981804482, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1943.1066943572432, + 430.4617743918015, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1943.1066943572432, + 430.4617743918015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1945.7047705685966, + 431.9617743918015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1948.30284677995, + 433.4617743918015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1950.9009229913033, + 434.9617743918015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1953.4989992026567, + 436.4617743918015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1956.09707541401, + 437.9617743918015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1958.6951516253635, + 439.4617743918015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1961.2932278367168, + 440.9617743918015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1963.8913040480702, + 442.4617743918015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1966.4893802594236, + 443.9617743918015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1969.087456470777, + 445.4617743918015, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1996.0, + 468.0, + 64.6317 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-53-8_482417719/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-53-8_482417719/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..86537c529816b002383d8aca499babbb081948dd --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-53-8_482417719/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 447.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 444.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 441.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 438.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 435.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 432.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 429.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 426.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 423.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 420.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 417.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 414.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 411.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 408.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 405.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 402.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 399.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 396.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 393.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 390.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 387.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 384.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 381.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 378.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 375.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 372.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 369.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 366.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 363.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 360.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 357.59207166923306, + 276.9399414157648, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + 276.0, + 64.2459 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-55-19_198628789/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-55-19_198628789/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..21a66fd0d786dcd6965cda8c7916d29523274c80 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-55-19_198628789/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1946.7129928751901, + 313.9653581943188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1948.2129928751901, + 316.5634344056721, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1949.7129928751901, + 319.16151061702544, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1951.2129928751901, + 321.75958682837876, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1952.7129928751901, + 324.3576630397321, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1954.2129928751901, + 326.9557392510854, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1955.7129928751901, + 329.5538154624387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1957.2129928751901, + 332.151891673792, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1958.7129928751901, + 334.74996788514534, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1960.2129928751901, + 337.34804409649865, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1961.7129928751901, + 339.94612030785197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1963.2129928751901, + 342.5441965192053, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1964.7129928751901, + 345.1422727305586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1966.2129928751901, + 347.7403489419119, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1967.7129928751901, + 350.33842515326523, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1969.2129928751901, + 352.93650136461855, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1970.7129928751901, + 355.53457757597187, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1972.2129928751901, + 358.1326537873252, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1973.7129928751901, + 360.7307299986785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1975.2129928751901, + 363.3288062100318, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1976.7129928751901, + 365.92688242138513, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1978.2129928751901, + 368.52495863273845, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1979.7129928751901, + 371.12303484409176, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1981.2129928751901, + 373.7211110554451, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1982.7129928751901, + 376.3191872667984, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1982.7129928751901, + 376.3191872667984, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1985.3110690865435, + 377.8191872667984, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1987.9091452978969, + 379.3191872667984, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2004.0, + 400.0, + 26.235 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-57-22_597010431/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-57-22_597010431/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d3f31c630cae20d5345eb69f96a87db61d06466d --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-57-22_597010431/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1.9476254412862062, + 331.1106997882637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3.4476254412862066, + 328.51262357691036, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4.947625441286207, + 325.91454736555704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 6.447625441286208, + 323.3164711542037, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 7.947625441286208, + 320.7183949428504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 9.447625441286208, + 318.1203187314971, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 10.947625441286208, + 315.5222425201438, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 12.447625441286208, + 312.92416630879046, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 12.447625441286208, + 312.92416630879046, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 15.045701652639524, + 311.42416630879046, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 17.643777863992838, + 309.92416630879046, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982991 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 20.241854075346154, + 308.42416630879046, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 22.83993028669947, + 306.92416630879046, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 25.438006498052786, + 305.42416630879046, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 28.036082709406102, + 303.92416630879046, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 30.63415892075942, + 302.42416630879046, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 33.232235132112734, + 300.92416630879046, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 35.83031134346605, + 299.42416630879046, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 38.428387554819366, + 297.92416630879046, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 41.02646376617268, + 296.42416630879046, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 43.624539977526, + 294.92416630879046, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 88.0, + 260.0, + 17.1304 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-6-2_2118801173/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-6-2_2118801173/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..85914ad8b61d4a9bab01111f3c07e9f8b820a90f --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-6-2_2118801173/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1884.785003211791, + 467.68440032074415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1887.785003211791, + 467.68440032074415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1890.785003211791, + 467.68440032074415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1893.785003211791, + 467.68440032074415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1896.785003211791, + 467.68440032074415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1899.785003211791, + 467.68440032074415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1902.785003211791, + 467.68440032074415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1905.785003211791, + 467.68440032074415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1908.785003211791, + 467.68440032074415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1911.785003211791, + 467.68440032074415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1914.785003211791, + 467.68440032074415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1917.785003211791, + 467.68440032074415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1920.785003211791, + 467.68440032074415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1923.785003211791, + 467.68440032074415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1926.785003211791, + 467.68440032074415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1929.785003211791, + 467.68440032074415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1932.785003211791, + 467.68440032074415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1935.785003211791, + 467.68440032074415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1938.785003211791, + 467.68440032074415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1941.785003211791, + 467.68440032074415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1944.785003211791, + 467.68440032074415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1947.785003211791, + 467.68440032074415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1950.785003211791, + 467.68440032074415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1953.785003211791, + 467.68440032074415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1956.785003211791, + 467.68440032074415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1959.785003211791, + 467.68440032074415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1962.785003211791, + 467.68440032074415, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1996.0, + 468.0, + 64.6317 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-16-37_304505404/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-16-37_304505404/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9cb3cbe9e9e49387bec071767bf695b0cf59b7ce --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-16-37_304505404/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1516.1042161108805, + -144.49466256899362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1518.702292322234, + -142.99466256899362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1521.3003685335873, + -141.49466256899362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1523.8984447449407, + -139.99466256899362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1526.496520956294, + -138.49466256899362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1529.0945971676474, + -136.99466256899362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1531.6926733790008, + -135.49466256899362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1534.2907495903542, + -133.99466256899362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1536.8888258017075, + -132.49466256899362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1539.486902013061, + -130.99466256899362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1542.0849782244143, + -129.49466256899362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1544.6830544357676, + -127.99466256899362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1547.281130647121, + -126.49466256899362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1549.8792068584744, + -124.99466256899362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1552.4772830698278, + -123.49466256899362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1555.0753592811811, + -121.99466256899362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1557.6734354925345, + -120.49466256899362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1560.2715117038879, + -118.99466256899362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1562.8695879152413, + -117.49466256899362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1565.4676641265946, + -115.99466256899362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1568.065740337948, + -114.49466256899362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1570.6638165493014, + -112.99466256899362, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1570.6638165493014, + -112.99466256899362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1572.1638165493014, + -110.3965863576403, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1573.6638165493014, + -107.79851014628699, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1575.1638165493014, + -105.20043393493367, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1576.6638165493014, + -102.60235772358035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1578.1638165493014, + -100.00428151222704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1579.6638165493014, + -97.40620530087372, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1581.1638165493014, + -94.8081290895204, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1582.6638165493014, + -92.21005287816709, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1584.1638165493014, + -89.61197666681377, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1584.1638165493014, + -89.61197666681377, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1586.7618927606547, + -88.11197666681377, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1589.3599689720081, + -86.61197666681377, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1591.9580451833615, + -85.11197666681377, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1612.0, + -68.0, + 34.3503 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-21-38_1028363610/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-21-38_1028363610/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0bb8dd7999fa599cab9e5537fdc562840a9029c6 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-21-38_1028363610/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1969.2790029589337, + 223.48150563902453, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1970.7790029589337, + 220.88342942767122, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1972.2790029589337, + 218.2853532163179, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1973.7790029589337, + 215.68727700496459, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1975.2790029589337, + 213.08920079361127, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1976.7790029589337, + 210.49112458225795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1978.2790029589337, + 207.89304837090464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1979.7790029589337, + 205.29497215955132, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1981.2790029589337, + 202.696895948198, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1982.7790029589337, + 200.0988197368447, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1984.2790029589337, + 197.50074352549137, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1985.7790029589337, + 194.90266731413806, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1987.2790029589337, + 192.30459110278474, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1988.7790029589337, + 189.70651489143142, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1990.2790029589337, + 187.1084386800781, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1991.7790029589337, + 184.5103624687248, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1993.2790029589337, + 181.91228625737148, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1994.7790029589337, + 179.31421004601816, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1994.7790029589337, + 179.31421004601816, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1994.7790029589337, + 176.31421004601816, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1994.7790029589337, + 173.31421004601816, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1994.7790029589337, + 170.31421004601816, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1994.7790029589337, + 167.31421004601816, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1994.7790029589337, + 164.31421004601816, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1994.7790029589337, + 161.31421004601816, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1994.7790029589337, + 158.31421004601816, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1994.7790029589337, + 155.31421004601816, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1994.7790029589337, + 152.31421004601816, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1994.7790029589337, + 149.31421004601816, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1994.7790029589337, + 146.31421004601816, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1994.7790029589337, + 143.31421004601816, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1994.7790029589337, + 140.31421004601816, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2012.0, + 96.0, + 2.4858 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-3-2_1254749154/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-3-2_1254749154/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ea36e80db63db64ff660d19a52c7bda94dcde304 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-3-2_1254749154/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1721.0391800540483, + 719.8303538774736, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1718.0391800540483, + 719.8303538774736, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1715.0391800540483, + 719.8303538774736, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1712.0391800540483, + 719.8303538774736, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1709.0391800540483, + 719.8303538774736, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1706.0391800540483, + 719.8303538774736, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1703.0391800540483, + 719.8303538774736, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1700.0391800540483, + 719.8303538774736, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1697.0391800540483, + 719.8303538774736, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1694.0391800540483, + 719.8303538774736, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1691.0391800540483, + 719.8303538774736, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1688.0391800540483, + 719.8303538774736, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1688.0391800540483, + 719.8303538774736, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1685.441103842695, + 718.3303538774736, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1682.8430276313416, + 716.8303538774736, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1680.2449514199882, + 715.3303538774736, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1600.0, + 700.0, + 215.094 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-32-57_1756098480/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-32-57_1756098480/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ddad1f8f035a81b7e09c875dda6d2341182f99b2 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-32-57_1756098480/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1058.8971671268696, + -366.24846168774275, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1060.3971671268696, + -363.65038547638943, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1061.8971671268696, + -361.0523092650361, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1063.3971671268696, + -358.4542330536828, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1064.8971671268696, + -355.8561568423295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1066.3971671268696, + -353.25808063097617, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1067.8971671268696, + -350.66000441962285, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1069.3971671268696, + -348.06192820826953, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1070.8971671268696, + -345.4638519969162, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1072.3971671268696, + -342.8657757855629, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1073.8971671268696, + -340.2676995742096, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1075.3971671268696, + -337.66962336285627, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1076.8971671268696, + -335.07154715150295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1078.3971671268696, + -332.47347094014964, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1079.8971671268696, + -329.8753947287963, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1081.3971671268696, + -327.277318517443, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1082.8971671268696, + -324.6792423060897, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1084.3971671268696, + -322.0811660947364, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1085.8971671268696, + -319.48308988338306, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1087.3971671268696, + -316.88501367202974, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1088.8971671268696, + -314.2869374606764, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1088.8971671268696, + -314.2869374606764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1091.495243338223, + -312.7869374606764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1094.0933195495763, + -311.2869374606764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1096.6913957609297, + -309.7869374606764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1099.289471972283, + -308.2869374606764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1101.8875481836365, + -306.7869374606764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1104.4856243949898, + -305.2869374606764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1107.0837006063432, + -303.7869374606764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1109.6817768176966, + -302.2869374606764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1112.27985302905, + -300.7869374606764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1114.8779292404033, + -299.2869374606764, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1114.8779292404033, + -299.2869374606764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1116.3779292404033, + -296.6888612493231, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.047197551196588 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0, + -272.0, + 9.35903 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-33-52_312186354/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-33-52_312186354/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b0957e005c4692f8257f4d36a5425da54c4f73d1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-33-52_312186354/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 468.6897581901487, + 29.138119759431603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 468.6897581901487, + 26.138119759431603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 468.6897581901487, + 23.138119759431603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 468.6897581901487, + 20.138119759431603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 468.6897581901487, + 17.138119759431603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 468.6897581901487, + 14.138119759431603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 468.6897581901487, + 11.138119759431603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 468.6897581901487, + 8.138119759431603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 468.6897581901487, + 5.1381197594316035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 468.6897581901487, + 2.1381197594316035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 468.6897581901487, + -0.8618802405683965, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 468.6897581901487, + -3.8618802405683965, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 468.6897581901487, + -6.8618802405683965, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 468.6897581901487, + -9.861880240568397, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 468.6897581901487, + -12.861880240568397, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 468.6897581901487, + -15.861880240568397, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 468.6897581901487, + -18.861880240568397, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 468.6897581901487, + -21.861880240568397, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 468.6897581901487, + -24.861880240568397, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 468.6897581901487, + -27.861880240568397, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 468.6897581901487, + -30.861880240568397, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 468.6897581901487, + -33.8618802405684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 468.6897581901487, + -36.8618802405684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 468.6897581901487, + -39.8618802405684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 468.6897581901487, + -42.8618802405684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 468.6897581901487, + -45.8618802405684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 468.6897581901487, + -48.8618802405684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 468.6897581901487, + -51.8618802405684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 468.6897581901487, + -54.8618802405684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 468.6897581901487, + -57.8618802405684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 468.6897581901487, + -60.8618802405684, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 468.6897581901487, + -60.8618802405684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 467.1897581901487, + -63.45995645192171, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.0, + -88.0, + 31.8125 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-40-15_1718264801/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-40-15_1718264801/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..86c60a19f028ee9b7bc891171be6b915a2dada66 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-40-15_1718264801/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1022.8742731333133, + 354.04356610772345, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1021.3742731333133, + 356.64164231907677, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1019.8742731333133, + 359.2397185304301, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1018.3742731333133, + 361.8377947417834, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1016.8742731333133, + 364.4358709531367, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1015.3742731333133, + 367.03394716449003, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1013.8742731333133, + 369.63202337584335, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1012.3742731333133, + 372.23009958719666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1010.8742731333133, + 374.82817579855, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1009.3742731333133, + 377.4262520099033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1007.8742731333133, + 380.0243282212566, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1006.3742731333133, + 382.6224044326099, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1004.8742731333133, + 385.22048064396324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1003.3742731333133, + 387.81855685531656, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1001.8742731333133, + 390.4166330666699, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1000.3742731333133, + 393.0147092780232, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 998.8742731333133, + 395.6127854893765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 997.3742731333133, + 398.2108617007298, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 995.8742731333133, + 400.80893791208314, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 994.3742731333133, + 403.40701412343645, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 992.8742731333133, + 406.00509033478977, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 991.3742731333133, + 408.6031665461431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 989.8742731333133, + 411.2012427574964, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 988.3742731333133, + 413.7993189688497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 986.8742731333133, + 416.39739518020303, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 985.3742731333133, + 418.99547139155635, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 983.8742731333133, + 421.59354760290967, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 983.8742731333133, + 421.59354760290967, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 981.27619692196, + 423.09354760290967, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 978.6781207106067, + 424.59354760290967, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 976.0800444992533, + 426.09354760290967, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 948.0, + 464.0, + 139.324 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-42-16_1198720172/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-42-16_1198720172/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d3dcd55a8f9493d3cbe0622acc7f6cf6deead67f --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-42-16_1198720172/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 671.2553946376662, + 55.28377921564612, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 672.7553946376662, + 52.685703004292805, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 674.2553946376662, + 50.08762679293949, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 675.7553946376662, + 47.48955058158617, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 677.2553946376662, + 44.89147437023286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 678.7553946376662, + 42.29339815887954, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 680.2553946376662, + 39.695321947526224, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 681.7553946376662, + 37.09724573617291, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 683.2553946376662, + 34.49916952481959, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 683.2553946376662, + 34.49916952481959, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 683.2553946376662, + 31.499169524819592, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 683.2553946376662, + 28.499169524819592, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 683.2553946376662, + 25.499169524819592, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 683.2553946376662, + 22.499169524819592, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 683.2553946376662, + 19.499169524819592, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 683.2553946376662, + 16.499169524819592, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 683.2553946376662, + 13.499169524819592, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 683.2553946376662, + 10.499169524819592, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 708.0, + -68.0, + 2.61985 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-42-29_1805613091/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-42-29_1805613091/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04cee89852f8b99032e11279679999f856b7ed32 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-42-29_1805613091/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1364.7764687288275, + 785.1281047600953, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1366.2764687288275, + 782.5300285487419, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1367.7764687288275, + 779.9319523373886, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1369.2764687288275, + 777.3338761260352, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1370.7764687288275, + 774.7357999146818, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1372.2764687288275, + 772.1377237033284, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1373.7764687288275, + 769.5396474919751, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1375.2764687288275, + 766.9415712806217, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1376.7764687288275, + 764.3434950692683, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1378.2764687288275, + 761.745418857915, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1379.7764687288275, + 759.1473426465616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1381.2764687288275, + 756.5492664352082, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1382.7764687288275, + 753.9511902238548, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1384.2764687288275, + 751.3531140125015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1385.7764687288275, + 748.7550378011481, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1387.2764687288275, + 746.1569615897947, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1388.7764687288275, + 743.5588853784413, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1390.2764687288275, + 740.960809167088, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1391.7764687288275, + 738.3627329557346, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1393.2764687288275, + 735.7646567443812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1394.7764687288275, + 733.1665805330279, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1396.2764687288275, + 730.5685043216745, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1397.7764687288275, + 727.9704281103211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1399.2764687288275, + 725.3723518989677, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1400.7764687288275, + 722.7742756876144, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1400.7764687288275, + 722.7742756876144, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1400.7764687288275, + 719.7742756876144, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1400.7764687288275, + 716.7742756876144, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1400.7764687288275, + 713.7742756876144, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.0, + 664.0, + 215.281 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-5-55_1683932587/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-5-55_1683932587/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b758e19150e41039c94ea30692a8c2456fb57fce --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-5-55_1683932587/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1739.6928517245717, + 121.50902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1737.0947755132183, + 123.00902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1734.496699301865, + 124.50902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1731.8986230905116, + 126.00902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1729.3005468791582, + 127.50902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1726.7024706678048, + 129.00902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1724.1043944564515, + 130.50902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1721.506318245098, + 132.00902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1718.9082420337447, + 133.50902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1716.3101658223914, + 135.00902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1713.712089611038, + 136.50902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1711.1140133996846, + 138.00902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1708.5159371883312, + 139.50902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1705.9178609769779, + 141.00902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1703.3197847656245, + 142.50902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1700.7217085542711, + 144.00902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1698.1236323429177, + 145.50902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1695.5255561315644, + 147.00902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1692.927479920211, + 148.50902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1690.3294037088576, + 150.00902390704744, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1690.3294037088576, + 150.00902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1687.3294037088576, + 150.00902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1684.3294037088576, + 150.00902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1681.3294037088576, + 150.00902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1678.3294037088576, + 150.00902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1675.3294037088576, + 150.00902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1672.3294037088576, + 150.00902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1669.3294037088576, + 150.00902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1666.3294037088576, + 150.00902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1663.3294037088576, + 150.00902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1660.3294037088576, + 150.00902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1657.3294037088576, + 150.00902390704744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1654.3294037088576, + 150.00902390704744, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1612.0, + 164.0, + 123.13 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-54-44_1608340634/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-54-44_1608340634/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..73d9ffaf142624c1bc396ab65a3919e6b0264a64 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-54-44_1608340634/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1595.656274390513, + 592.0321455551375, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1595.656274390513, + 595.0321455551375, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1595.656274390513, + 598.0321455551375, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1595.656274390513, + 601.0321455551375, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1595.656274390513, + 604.0321455551375, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1595.656274390513, + 607.0321455551375, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1595.656274390513, + 610.0321455551375, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1595.656274390513, + 613.0321455551375, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1595.656274390513, + 616.0321455551375, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1595.656274390513, + 619.0321455551375, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1595.656274390513, + 622.0321455551375, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1595.656274390513, + 625.0321455551375, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1595.656274390513, + 628.0321455551375, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1595.656274390513, + 631.0321455551375, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1595.656274390513, + 634.0321455551375, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1595.656274390513, + 637.0321455551375, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1595.656274390513, + 640.0321455551375, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1595.656274390513, + 643.0321455551375, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1595.656274390513, + 646.0321455551375, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1600.0, + 700.0, + 215.094 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-54-57_956134158/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-54-57_956134158/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..76935ba1c07575c1585d85353219f79f57a09f16 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-54-57_956134158/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 538.0820838263719, + -334.566619002536, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 538.0820838263719, + -331.566619002536, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 538.0820838263719, + -328.566619002536, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 538.0820838263719, + -325.566619002536, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 538.0820838263719, + -322.566619002536, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 538.0820838263719, + -319.566619002536, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 538.0820838263719, + -316.566619002536, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 538.0820838263719, + -313.566619002536, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 538.0820838263719, + -310.566619002536, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 538.0820838263719, + -307.566619002536, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 538.0820838263719, + -304.566619002536, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 538.0820838263719, + -301.566619002536, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 538.0820838263719, + -298.566619002536, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 538.0820838263719, + -295.566619002536, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 538.0820838263719, + -292.566619002536, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 538.0820838263719, + -289.566619002536, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 538.0820838263719, + -286.566619002536, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 538.0820838263719, + -283.566619002536, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 538.0820838263719, + -280.566619002536, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 538.0820838263719, + -277.566619002536, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 538.0820838263719, + -274.566619002536, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 538.0820838263719, + -274.566619002536, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 539.5820838263719, + -271.9685427911827, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 541.0820838263719, + -269.3704665798294, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 542.5820838263719, + -266.77239036847607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 544.0820838263719, + -264.17431415712275, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 545.5820838263719, + -261.57623794576944, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 547.0820838263719, + -258.9781617344161, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 548.5820838263719, + -256.3800855230628, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 550.0820838263719, + -253.7820093117095, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 551.5820838263719, + -251.18393310035617, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 553.0820838263719, + -248.58585688900286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 554.5820838263719, + -245.98778067764954, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 556.0820838263719, + -243.38970446629622, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 564.0, + -220.0, + 16.8381 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-57-40_1701475883/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-57-40_1701475883/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c96f6cc2b69189d943c4b111541747049619b222 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-57-40_1701475883/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 625.1009311217699, + 116.4163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 628.1009311217699, + 116.4163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 631.1009311217699, + 116.4163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 634.1009311217699, + 116.4163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 637.1009311217699, + 116.4163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 640.1009311217699, + 116.4163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 643.1009311217699, + 116.4163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 646.1009311217699, + 116.4163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 649.1009311217699, + 116.4163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 652.1009311217699, + 116.4163780857366, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 652.1009311217699, + 116.4163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 654.6990073331233, + 114.9163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 657.2970835444767, + 113.4163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 659.89515975583, + 111.9163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 662.4932359671834, + 110.4163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 665.0913121785368, + 108.9163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 667.6893883898902, + 107.4163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 670.2874646012435, + 105.9163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 672.8855408125969, + 104.4163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 675.4836170239503, + 102.9163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 678.0816932353036, + 101.4163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 680.679769446657, + 99.9163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 683.2778456580104, + 98.4163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 685.8759218693638, + 96.9163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 688.4739980807171, + 95.4163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 691.0720742920705, + 93.9163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 693.6701505034239, + 92.4163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 696.2682267147773, + 90.9163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 698.8663029261306, + 89.4163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 701.464379137484, + 87.9163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 704.0624553488374, + 86.4163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 706.6605315601907, + 84.9163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 709.2586077715441, + 83.4163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 711.8566839828975, + 81.9163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 714.4547601942509, + 80.4163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 717.0528364056042, + 78.9163780857366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 719.6509126169576, + 77.4163780857366, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 740.0, + 68.0, + 34.5123 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-58-36_707255825/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-58-36_707255825/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e8c271543123ff0e9f375683701e192744eab3ea --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-58-36_707255825/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1655.0758288824172, + 61.80395207117064, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1653.5758288824172, + 59.205875859817326, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1652.0758288824172, + 56.60779964846401, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1650.5758288824172, + 54.009723437110694, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1649.0758288824172, + 51.41164722575738, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1647.5758288824172, + 48.81357101440406, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1646.0758288824172, + 46.215494803050746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1644.5758288824172, + 43.61741859169743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1643.0758288824172, + 41.01934238034411, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1641.5758288824172, + 38.4212661689908, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1640.0758288824172, + 35.82318995763748, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1638.5758288824172, + 33.225113746284165, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1637.0758288824172, + 30.62703753493085, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1635.5758288824172, + 28.028961323577533, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1634.0758288824172, + 25.430885112224217, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1632.5758288824172, + 22.8328089008709, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1631.0758288824172, + 20.234732689517585, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1629.5758288824172, + 17.63665647816427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1628.0758288824172, + 15.038580266810953, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1626.5758288824172, + 12.440504055457637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1625.0758288824172, + 9.842427844104321, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1623.5758288824172, + 7.244351632751005, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1622.0758288824172, + 4.646275421397689, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1620.5758288824172, + 2.0481992100443733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1619.0758288824172, + -0.5498770013089427, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1619.0758288824172, + -0.5498770013089427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1619.0758288824172, + -3.5498770013089427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1619.0758288824172, + -6.549877001308943, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1619.0758288824172, + -9.549877001308943, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1619.0758288824172, + -12.549877001308943, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1619.0758288824172, + -15.549877001308943, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1619.0758288824172, + -18.549877001308943, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1619.0758288824172, + -21.549877001308943, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1619.0758288824172, + -24.549877001308943, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1619.0758288824172, + -27.549877001308943, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1619.0758288824172, + -30.549877001308943, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1619.0758288824172, + -33.54987700130894, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1619.0758288824172, + -36.54987700130894, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1619.0758288824172, + -39.54987700130894, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1619.0758288824172, + -42.54987700130894, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1619.0758288824172, + -45.54987700130894, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1619.0758288824172, + -48.54987700130894, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1619.0758288824172, + -51.54987700130894, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1612.0, + -68.0, + 34.3503 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-7-15_1282291499/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-7-15_1282291499/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..510856775eaa65770208e8bd4b5215b1db1b2e08 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-7-15_1282291499/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1379.960602553395, + 550.0233749514026, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1381.460602553395, + 552.6214511627559, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1382.960602553395, + 555.2195273741092, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1384.460602553395, + 557.8176035854626, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1385.960602553395, + 560.415679796816, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1387.460602553395, + 563.0137560081694, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1388.960602553395, + 565.6118322195227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1390.460602553395, + 568.2099084308761, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1391.960602553395, + 570.8079846422295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1393.460602553395, + 573.4060608535829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1394.960602553395, + 576.0041370649362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1396.460602553395, + 578.6022132762896, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1397.960602553395, + 581.200289487643, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1399.460602553395, + 583.7983656989963, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1400.960602553395, + 586.3964419103497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1402.460602553395, + 588.9945181217031, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1403.960602553395, + 591.5925943330565, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1403.960602553395, + 591.5925943330565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1403.960602553395, + 594.5925943330565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1403.960602553395, + 597.5925943330565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1403.960602553395, + 600.5925943330565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1403.960602553395, + 603.5925943330565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1403.960602553395, + 606.5925943330565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1403.960602553395, + 609.5925943330565, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.0, + 664.0, + 215.281 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-10-46_1850612763/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-10-46_1850612763/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..05bca8041d0b676e8e4488803e4076d9c3b74b87 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-10-46_1850612763/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1697.154026043996, + 31.09711192138721, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1695.654026043996, + 28.499035710033894, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1694.154026043996, + 25.900959498680578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1692.654026043996, + 23.302883287327262, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1691.154026043996, + 20.704807075973946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1689.654026043996, + 18.10673086462063, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1688.154026043996, + 15.508654653267314, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1686.654026043996, + 12.910578441913998, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1685.154026043996, + 10.312502230560682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1683.654026043996, + 7.714426019207366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1682.154026043996, + 5.11634980785405, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1680.654026043996, + 2.518273596500734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1679.154026043996, + -0.07980261485258211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1677.654026043996, + -2.677878826205898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1676.154026043996, + -5.275955037559214, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1674.654026043996, + -7.87403124891253, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1673.154026043996, + -10.472107460265846, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1671.654026043996, + -13.070183671619162, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1670.154026043996, + -15.668259882972478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1668.654026043996, + -18.266336094325794, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1667.154026043996, + -20.86441230567911, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1665.654026043996, + -23.462488517032426, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1664.154026043996, + -26.060564728385742, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1662.654026043996, + -28.65864093973906, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1662.654026043996, + -28.65864093973906, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1660.0559498326427, + -30.15864093973906, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1657.4578736212893, + -31.65864093973906, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1654.859797409936, + -33.15864093973906, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1652.2617211985826, + -34.65864093973906, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1649.6636449872292, + -36.15864093973906, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1647.0655687758758, + -37.65864093973906, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1644.4674925645224, + -39.15864093973906, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1641.869416353169, + -40.65864093973906, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1639.2713401418157, + -42.15864093973906, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1636.6732639304623, + -43.65864093973906, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1634.075187719109, + -45.15864093973906, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1631.4771115077556, + -46.65864093973906, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1628.8790352964022, + -48.15864093973906, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1626.2809590850488, + -49.65864093973906, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1612.0, + -68.0, + 34.3503 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-11-25_950881304/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-11-25_950881304/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..948d876d736e8eca18acc028dc8418de3a022a5f --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-11-25_950881304/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1980.6829708713008, + 763.2592900207909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1980.6829708713008, + 760.2592900207909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1980.6829708713008, + 757.2592900207909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1980.6829708713008, + 754.2592900207909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1980.6829708713008, + 751.2592900207909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1980.6829708713008, + 748.2592900207909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1980.6829708713008, + 745.2592900207909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1980.6829708713008, + 742.2592900207909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1980.6829708713008, + 739.2592900207909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1980.6829708713008, + 736.2592900207909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1980.6829708713008, + 733.2592900207909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1980.6829708713008, + 730.2592900207909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1980.6829708713008, + 727.2592900207909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1980.6829708713008, + 724.2592900207909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1980.6829708713008, + 721.2592900207909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1980.6829708713008, + 718.2592900207909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1980.6829708713008, + 715.2592900207909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1980.6829708713008, + 712.2592900207909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1980.6829708713008, + 709.2592900207909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1980.6829708713008, + 706.2592900207909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1980.6829708713008, + 703.2592900207909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1980.6829708713008, + 700.2592900207909, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1980.6829708713008, + 700.2592900207909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1979.1829708713008, + 697.6612138094376, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1977.6829708713008, + 695.0631375980843, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1976.0, + 660.0, + 105.319 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-11-39_1221389873/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-11-39_1221389873/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e067e1a7cd93f7318a70647d70c5124edfb8c6c7 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-11-39_1221389873/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 985.9165169855937, + 974.884126646747, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 987.4165169855937, + 972.2860504353937, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 988.9165169855937, + 969.6879742240403, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 990.4165169855937, + 967.089898012687, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 991.9165169855937, + 964.4918218013336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 993.4165169855937, + 961.8937455899802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 994.9165169855937, + 959.2956693786268, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 996.4165169855937, + 956.6975931672735, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 996.4165169855937, + 956.6975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 999.0145931969471, + 955.1975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1001.6126694083005, + 953.6975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1004.2107456196538, + 952.1975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1006.8088218310072, + 950.6975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1009.4068980423606, + 949.1975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1012.004974253714, + 947.6975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1014.6030504650673, + 946.1975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1017.2011266764207, + 944.6975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1019.7992028877741, + 943.1975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1022.3972790991274, + 941.6975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1024.9953553104808, + 940.1975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1027.5934315218342, + 938.6975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1030.1915077331876, + 937.1975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1032.789583944541, + 935.6975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1035.3876601558943, + 934.1975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1037.9857363672477, + 932.6975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1040.583812578601, + 931.1975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1043.1818887899544, + 929.6975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1045.7799650013078, + 928.1975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1048.3780412126612, + 926.6975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1050.9761174240145, + 925.1975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1053.574193635368, + 923.6975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1056.1722698467213, + 922.1975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1058.7703460580747, + 920.6975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1061.368422269428, + 919.1975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1063.9664984807814, + 917.6975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1066.5645746921348, + 916.1975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1069.1626509034882, + 914.6975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1071.7607271148415, + 913.1975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1074.358803326195, + 911.6975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1076.9568795375483, + 910.1975931672735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1079.5549557489016, + 908.6975931672735, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1096.0, + 896.0, + 34.2564 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-15-45_2132688302/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-15-45_2132688302/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d31db8592da3fd1be5790308d9721db7a7eb478d --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-15-45_2132688302/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1656.1813496635739, + 22.823021753083083, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1654.6813496635739, + 25.4210979644364, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1653.1813496635739, + 28.019174175789715, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1651.6813496635739, + 30.61725038714303, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1650.1813496635739, + 33.21532659849635, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1648.6813496635739, + 35.81340280984966, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1647.1813496635739, + 38.41147902120298, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1645.6813496635739, + 41.009555232556295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1644.1813496635739, + 43.60763144390961, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1642.6813496635739, + 46.20570765526293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1641.1813496635739, + 48.80378386661624, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1639.6813496635739, + 51.40186007796956, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1638.1813496635739, + 53.999936289322875, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1636.6813496635739, + 56.59801250067619, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1635.1813496635739, + 59.19608871202951, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1633.6813496635739, + 61.79416492338282, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1632.1813496635739, + 64.39224113473614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1630.6813496635739, + 66.99031734608945, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1629.1813496635739, + 69.58839355744277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1627.6813496635739, + 72.18646976879609, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1626.1813496635739, + 74.7845459801494, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1624.6813496635739, + 77.38262219150272, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1624.6813496635739, + 77.38262219150272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1624.6813496635739, + 80.38262219150272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1624.6813496635739, + 83.38262219150272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1624.6813496635739, + 86.38262219150272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1624.6813496635739, + 89.38262219150272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1624.6813496635739, + 92.38262219150272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1624.6813496635739, + 95.38262219150272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1624.6813496635739, + 98.38262219150272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1624.6813496635739, + 101.38262219150272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1624.6813496635739, + 104.38262219150272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1624.6813496635739, + 107.38262219150272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1624.6813496635739, + 110.38262219150272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1624.6813496635739, + 113.38262219150272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1624.6813496635739, + 116.38262219150272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1624.6813496635739, + 119.38262219150272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1624.6813496635739, + 122.38262219150272, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1612.0, + 164.0, + 123.13 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-16-5_1017565625/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-16-5_1017565625/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..532c1cfd7974a76eb6136eeb74b008f477340005 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-16-5_1017565625/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1162.6035234191022, + -390.84559511907594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1162.6035234191022, + -387.84559511907594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1162.6035234191022, + -384.84559511907594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1162.6035234191022, + -381.84559511907594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1162.6035234191022, + -378.84559511907594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1162.6035234191022, + -375.84559511907594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1162.6035234191022, + -372.84559511907594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1162.6035234191022, + -369.84559511907594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1162.6035234191022, + -366.84559511907594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1162.6035234191022, + -363.84559511907594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1162.6035234191022, + -360.84559511907594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1162.6035234191022, + -357.84559511907594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1162.6035234191022, + -354.84559511907594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1162.6035234191022, + -351.84559511907594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1162.6035234191022, + -348.84559511907594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1162.6035234191022, + -345.84559511907594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1162.6035234191022, + -342.84559511907594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1162.6035234191022, + -339.84559511907594, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1162.6035234191022, + -339.84559511907594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1161.1035234191022, + -337.2475189077226, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1159.6035234191022, + -334.6494426963693, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1158.1035234191022, + -332.051366485016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1156.6035234191022, + -329.4532902736627, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1155.1035234191022, + -326.85521406230936, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1153.6035234191022, + -324.25713785095604, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1152.1035234191022, + -321.6590616396027, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1150.6035234191022, + -319.0609854282494, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1149.1035234191022, + -316.4629092168961, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1147.6035234191022, + -313.8648330055428, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1146.1035234191022, + -311.26675679418946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1144.6035234191022, + -308.66868058283615, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1143.1035234191022, + -306.07060437148283, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1141.6035234191022, + -303.4725281601295, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1141.6035234191022, + -303.4725281601295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1141.6035234191022, + -300.4725281601295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1141.6035234191022, + -297.4725281601295, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0, + -272.0, + 9.35903 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-18-4_107939561/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-18-4_107939561/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bc30dce6e7a31d89abcb14673639363df04ee845 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-18-4_107939561/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1868.653428117391, + 248.9526982960459, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1870.153428117391, + 251.5507745073992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1871.653428117391, + 254.14885071875253, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1871.653428117391, + 254.14885071875253, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1874.2515043287444, + 255.64885071875253, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1876.8495805400978, + 257.1488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982812 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1879.4476567514512, + 258.6488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1882.0457329628045, + 260.1488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1884.643809174158, + 261.6488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1887.2418853855113, + 263.1488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1889.8399615968647, + 264.6488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1892.438037808218, + 266.1488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1895.0361140195714, + 267.6488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1897.6341902309248, + 269.1488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1900.2322664422782, + 270.6488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1902.8303426536315, + 272.1488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1905.428418864985, + 273.6488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1908.0264950763383, + 275.1488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1910.6245712876917, + 276.6488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1913.222647499045, + 278.1488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1915.8207237103984, + 279.6488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1918.4187999217518, + 281.1488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1921.0168761331051, + 282.6488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1923.6149523444585, + 284.1488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1926.213028555812, + 285.6488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1928.8111047671653, + 287.1488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1931.4091809785186, + 288.6488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1934.007257189872, + 290.1488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1936.6053334012254, + 291.6488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1939.2034096125788, + 293.1488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1941.8014858239321, + 294.6488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1944.3995620352855, + 296.1488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1946.9976382466389, + 297.6488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1949.5957144579922, + 299.1488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1952.1937906693456, + 300.6488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1954.791866880699, + 302.1488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1957.3899430920524, + 303.6488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1959.9880193034057, + 305.1488507187525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1962.586095514759, + 306.6488507187525, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1992.0, + 328.0, + 3.01289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-20-44_1042517543/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-20-44_1042517543/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67f9299adad265a34ceeb9295d70eb663f08cac4 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-20-44_1042517543/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1053.5040770349826, + 567.8349204700587, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1050.9060008236293, + 566.3349204700587, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1048.3079246122759, + 564.8349204700587, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1045.7098484009225, + 563.3349204700587, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1043.1117721895691, + 561.8349204700587, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1040.5136959782158, + 560.3349204700587, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1037.9156197668624, + 558.8349204700587, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1035.317543555509, + 557.3349204700587, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1032.7194673441556, + 555.8349204700587, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1030.1213911328023, + 554.3349204700587, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1027.523314921449, + 552.8349204700587, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1024.9252387100955, + 551.3349204700587, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1022.3271624987422, + 549.8349204700587, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1019.7290862873888, + 548.3349204700587, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1017.1310100760354, + 546.8349204700587, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1017.1310100760354, + 546.8349204700587, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1015.6310100760354, + 544.2368442587053, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1014.1310100760354, + 541.638768047352, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1012.6310100760354, + 539.0406918359986, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1011.1310100760354, + 536.4426156246452, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1009.6310100760354, + 533.8445394132918, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1008.1310100760354, + 531.2464632019385, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1006.6310100760354, + 528.6483869905851, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1005.1310100760354, + 526.0503107792317, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1003.6310100760354, + 523.4522345678783, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1002.1310100760354, + 520.854158356525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1000.6310100760354, + 518.2560821451716, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 999.1310100760354, + 515.6580059338182, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 997.6310100760354, + 513.0599297224649, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 996.1310100760354, + 510.46185351111154, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 994.6310100760354, + 507.8637772997582, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 993.1310100760354, + 505.2657010884049, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 993.1310100760354, + 505.2657010884049, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 990.532933864682, + 503.7657010884049, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 987.9348576533287, + 502.2657010884049, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 985.3367814419753, + 500.7657010884049, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 982.7387052306219, + 499.2657010884049, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 948.0, + 464.0, + 139.324 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-32-30_1704572553/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-32-30_1704572553/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..762868291a526cb4c25eba2bec6346fa9b01bb1d --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-32-30_1704572553/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1408.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1411.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1414.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1417.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1420.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1423.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1426.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1429.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1432.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1435.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1438.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1441.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1444.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1447.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1450.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1453.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1456.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1459.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1462.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1465.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1468.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1471.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1474.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1477.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1480.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1483.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1486.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1486.0591713022834, + -143.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1488.6572475136368, + -145.129958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1491.2553237249901, + -146.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1493.8533999363435, + -148.129958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1496.451476147697, + -149.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1499.0495523590503, + -151.129958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1501.6476285704036, + -152.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1504.245704781757, + -154.129958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1506.8437809931104, + -155.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1509.4418572044638, + -157.129958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1512.0399334158171, + -158.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1514.6380096271705, + -160.129958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1517.2360858385239, + -161.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1519.8341620498772, + -163.129958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1522.4322382612306, + -164.629958520888, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1522.4322382612306, + -164.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1525.4322382612306, + -164.629958520888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1528.4322382612306, + -164.629958520888, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1548.0, + -168.0, + 5.86359 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-38-6_1073781763/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-38-6_1073781763/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a9c2690939bcb26da2f4097e588818df3c18d568 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-38-6_1073781763/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1892.1577376686082, + 301.7903733359272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1892.1577376686082, + 298.7903733359272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1892.1577376686082, + 295.7903733359272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1892.1577376686082, + 292.7903733359272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1892.1577376686082, + 289.7903733359272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1892.1577376686082, + 286.7903733359272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1892.1577376686082, + 283.7903733359272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1892.1577376686082, + 280.7903733359272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1892.1577376686082, + 277.7903733359272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1892.1577376686082, + 274.7903733359272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1892.1577376686082, + 271.7903733359272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1892.1577376686082, + 268.7903733359272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1892.1577376686082, + 265.7903733359272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1892.1577376686082, + 262.7903733359272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1892.1577376686082, + 259.7903733359272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1892.1577376686082, + 256.7903733359272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1892.1577376686082, + 253.7903733359272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1892.1577376686082, + 250.7903733359272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1892.1577376686082, + 247.7903733359272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1892.1577376686082, + 244.7903733359272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1892.1577376686082, + 241.7903733359272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1892.1577376686082, + 238.7903733359272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1892.1577376686082, + 235.7903733359272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1892.1577376686082, + 232.7903733359272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1892.1577376686082, + 229.7903733359272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1892.1577376686082, + 226.7903733359272, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1892.1577376686082, + 226.7903733359272, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1890.6577376686082, + 224.19229712457388, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1889.1577376686082, + 221.59422091322057, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1887.6577376686082, + 218.99614470186725, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1886.1577376686082, + 216.39806849051394, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1884.6577376686082, + 213.79999227916062, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1883.1577376686082, + 211.2019160678073, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1881.6577376686082, + 208.603839856454, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1880.1577376686082, + 206.00576364510067, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1878.6577376686082, + 203.40768743374736, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1877.1577376686082, + 200.80961122239404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1875.6577376686082, + 198.21153501104072, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1874.1577376686082, + 195.6134587996874, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1868.0, + 168.0, + 104.903 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-39-18_1457880381/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-39-18_1457880381/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bfc6ab5fddee6cfcbf573e7952dcb4327b0b17b4 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-39-18_1457880381/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1344.7258309737779, + 732.9981452300333, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1347.3239071851312, + 731.4981452300333, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1349.9219833964846, + 729.9981452300333, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1352.520059607838, + 728.4981452300333, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1355.1181358191914, + 726.9981452300333, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1357.7162120305447, + 725.4981452300333, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1360.314288241898, + 723.9981452300333, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1362.9123644532515, + 722.4981452300333, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1365.5104406646049, + 720.9981452300333, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1368.1085168759582, + 719.4981452300333, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1370.7065930873116, + 717.9981452300333, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1370.7065930873116, + 717.9981452300333, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1372.2065930873116, + 715.4000690186799, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1373.7065930873116, + 712.8019928073265, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1375.2065930873116, + 710.2039165959732, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1376.7065930873116, + 707.6058403846198, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1378.2065930873116, + 705.0077641732664, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1379.7065930873116, + 702.409687961913, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.0, + 664.0, + 215.281 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-42-9_104852634/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-42-9_104852634/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ae012cde49f5d9f9bf8626007f5f51e5f780e1c0 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-42-9_104852634/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 995.5921422383805, + 146.14962280991634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 998.5921422383805, + 146.14962280991634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1001.5921422383805, + 146.14962280991634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1004.5921422383805, + 146.14962280991634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1007.5921422383805, + 146.14962280991634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1010.5921422383805, + 146.14962280991634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1013.5921422383805, + 146.14962280991634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1016.5921422383805, + 146.14962280991634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1019.5921422383805, + 146.14962280991634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1022.5921422383805, + 146.14962280991634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1025.5921422383803, + 146.14962280991634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1028.5921422383803, + 146.14962280991634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1031.5921422383803, + 146.14962280991634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1034.5921422383803, + 146.14962280991634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1037.5921422383803, + 146.14962280991634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1040.5921422383803, + 146.14962280991634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1043.5921422383803, + 146.14962280991634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1046.5921422383803, + 146.14962280991634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1049.5921422383803, + 146.14962280991634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1052.5921422383803, + 146.14962280991634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1055.5921422383803, + 146.14962280991634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1058.5921422383803, + 146.14962280991634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1061.5921422383803, + 146.14962280991634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1064.5921422383803, + 146.14962280991634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1067.5921422383803, + 146.14962280991634, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1067.5921422383803, + 146.14962280991634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1070.1902184497337, + 147.64962280991634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1072.788294661087, + 149.14962280991634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1075.3863708724405, + 150.64962280991634, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1124.0, + 152.0, + 214.658 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-48-3_487073847/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-48-3_487073847/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..865f1ecb814eb6c410f88c9dbbae59b19d44b44b --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-48-3_487073847/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 394.25154652210836, + -189.09072266421617, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 395.75154652210836, + -186.49264645286286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 397.25154652210836, + -183.89457024150954, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 398.75154652210836, + -181.29649403015623, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 400.25154652210836, + -178.6984178188029, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 401.75154652210836, + -176.1003416074496, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 403.25154652210836, + -173.50226539609628, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 404.75154652210836, + -170.90418918474296, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 406.25154652210836, + -168.30611297338965, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 407.75154652210836, + -165.70803676203633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 409.25154652210836, + -163.109960550683, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 410.75154652210836, + -160.5118843393297, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 412.25154652210836, + -157.91380812797638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 413.75154652210836, + -155.31573191662306, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 415.25154652210836, + -152.71765570526975, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 416.75154652210836, + -150.11957949391643, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 418.25154652210836, + -147.52150328256312, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 419.75154652210836, + -144.9234270712098, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 421.25154652210836, + -142.32535085985648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 422.75154652210836, + -139.72727464850317, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 424.25154652210836, + -137.12919843714985, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 425.75154652210836, + -134.53112222579654, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 427.25154652210836, + -131.93304601444322, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 428.75154652210836, + -129.3349698030899, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 430.25154652210836, + -126.73689359173659, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 431.75154652210836, + -124.13881738038327, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 433.25154652210836, + -121.54074116902996, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 433.25154652210836, + -121.54074116902996, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 435.8496227334617, + -120.04074116902996, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 438.447698944815, + -118.54074116902996, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 441.0457751561683, + -117.04074116902996, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 443.6438513675216, + -115.54074116902996, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.0, + -88.0, + 31.8125 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-50-50_993683397/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-50-50_993683397/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1d8c939ad4c7869b07faf3a69b437d4a4731753d --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-50-50_993683397/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 670.2344260083186, + -302.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 673.2344260083186, + -302.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 676.2344260083186, + -302.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 679.2344260083186, + -302.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 682.2344260083186, + -302.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 685.2344260083186, + -302.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 688.2344260083186, + -302.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 691.2344260083186, + -302.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 694.2344260083186, + -302.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 697.2344260083186, + -302.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 700.2344260083186, + -302.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 703.2344260083186, + -302.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 706.2344260083186, + -302.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 709.2344260083186, + -302.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 712.2344260083186, + -302.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 715.2344260083186, + -302.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 718.2344260083186, + -302.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 721.2344260083186, + -302.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 724.2344260083186, + -302.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 727.2344260083186, + -302.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 730.2344260083186, + -302.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 733.2344260083186, + -302.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 736.2344260083186, + -302.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 739.2344260083186, + -302.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 742.2344260083186, + -302.5543293671164, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 742.2344260083186, + -302.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 744.8325022196718, + -301.0543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 747.4305784310252, + -299.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 750.0286546423786, + -298.0543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 752.6267308537319, + -296.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 755.2248070650853, + -295.0543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 757.8228832764387, + -293.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 760.4209594877921, + -292.0543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 763.0190356991454, + -290.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 765.6171119104988, + -289.0543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 768.2151881218522, + -287.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 770.8132643332056, + -286.0543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 773.4113405445589, + -284.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 776.0094167559123, + -283.0543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 778.6074929672657, + -281.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 781.205569178619, + -280.0543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 783.8036453899724, + -278.5543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 786.4017216013258, + -277.0543293671164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 788.9997978126792, + -275.5543293671164, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 808.0, + -268.0, + 5.86358 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-51-47_1802491982/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-51-47_1802491982/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f4e7a57b668177b196698cce66b4475b3a046d9b --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-51-47_1802491982/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 471.8629802673863, + -200.6407194114724, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 473.3629802673863, + -198.04264320011907, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 474.8629802673863, + -195.44456698876576, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 476.3629802673863, + -192.84649077741244, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 477.8629802673863, + -190.24841456605913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 479.3629802673863, + -187.6503383547058, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 480.8629802673863, + -185.0522621433525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 482.3629802673863, + -182.45418593199918, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 483.8629802673863, + -179.85610972064586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 485.3629802673863, + -177.25803350929255, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 486.8629802673863, + -174.65995729793923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 488.3629802673863, + -172.0618810865859, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 489.8629802673863, + -169.4638048752326, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 491.3629802673863, + -166.86572866387928, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 492.8629802673863, + -164.26765245252597, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 494.3629802673863, + -161.66957624117265, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 494.3629802673863, + -161.66957624117265, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 496.96105647873964, + -160.16957624117265, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 499.55913269009295, + -158.66957624117265, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 502.15720890144627, + -157.16957624117265, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 504.7552851127996, + -155.66957624117265, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 507.3533613241529, + -154.16957624117265, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 509.9514375355062, + -152.66957624117265, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 512.5495137468595, + -151.16957624117265, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 515.1475899582128, + -149.66957624117265, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 517.7456661695662, + -148.16957624117265, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 520.3437423809196, + -146.66957624117265, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 522.941818592273, + -145.16957624117265, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 525.5398948036263, + -143.66957624117265, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 548.0, + -120.0, + 50.6383 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-53-55_456651794/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-53-55_456651794/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ada875b99c9153d5cae748b037b0aac0f704f20a --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-53-55_456651794/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 999.0745890212249, + -312.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1002.0745890212249, + -312.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1005.0745890212249, + -312.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1008.0745890212249, + -312.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1011.0745890212249, + -312.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1014.0745890212249, + -312.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1017.0745890212249, + -312.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1020.0745890212249, + -312.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1023.0745890212249, + -312.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1026.074589021225, + -312.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1029.074589021225, + -312.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1032.074589021225, + -312.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1035.074589021225, + -312.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1038.074589021225, + -312.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1041.074589021225, + -312.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1044.074589021225, + -312.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1047.074589021225, + -312.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1050.074589021225, + -312.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1053.074589021225, + -312.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1056.074589021225, + -312.807399226197, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1056.074589021225, + -312.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1058.6726652325783, + -311.307399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1061.2707414439317, + -309.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1063.868817655285, + -308.307399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1066.4668938666384, + -306.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1069.0649700779918, + -305.307399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1071.6630462893452, + -303.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1074.2611225006985, + -302.307399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1076.859198712052, + -300.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1079.4572749234053, + -299.307399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1082.0553511347587, + -297.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1084.653427346112, + -296.307399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1087.2515035574654, + -294.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1089.8495797688188, + -293.307399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1092.4476559801722, + -291.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1095.0457321915255, + -290.307399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1097.643808402879, + -288.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1100.2418846142323, + -287.307399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1102.8399608255856, + -285.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1105.438037036939, + -284.307399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1108.0361132482924, + -282.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1110.6341894596458, + -281.307399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1113.2322656709991, + -279.807399226197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1115.8303418823525, + -278.307399226197, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0, + -272.0, + 9.35903 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-55-26_62299853/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-55-26_62299853/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..44e93c3978f190c764c8f836c9a3a4859ce068dd --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-55-26_62299853/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1443.5469393265244, + 341.87503742677796, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1445.0469393265244, + 344.4731136381313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1446.5469393265244, + 347.0711898494846, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1448.0469393265244, + 349.6692660608379, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1449.5469393265244, + 352.26734227219123, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1451.0469393265244, + 354.86541848354454, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1452.5469393265244, + 357.46349469489786, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1454.0469393265244, + 360.0615709062512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1455.5469393265244, + 362.6596471176045, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1457.0469393265244, + 365.2577233289578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1458.5469393265244, + 367.8557995403111, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1460.0469393265244, + 370.45387575166444, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1461.5469393265244, + 373.05195196301776, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1463.0469393265244, + 375.6500281743711, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1464.5469393265244, + 378.2481043857244, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1466.0469393265244, + 380.8461805970777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1467.5469393265244, + 383.444256808431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1469.0469393265244, + 386.04233301978434, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1470.5469393265244, + 388.64040923113765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1472.0469393265244, + 391.23848544249097, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1473.5469393265244, + 393.8365616538443, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1475.0469393265244, + 396.4346378651976, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1476.5469393265244, + 399.0327140765509, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1478.0469393265244, + 401.63079028790423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1479.5469393265244, + 404.22886649925755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1481.0469393265244, + 406.82694271061087, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1482.5469393265244, + 409.4250189219642, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1512.0, + 460.0, + 122.069 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-57-28_701539807/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-57-28_701539807/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..902c0bf902ba06c0a618e166d3ced820a77c5757 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-57-28_701539807/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 477.43947266252104, + 73.81216566359727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 480.03754887387436, + 75.31216566359727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 482.6356250852277, + 76.81216566359727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 485.233701296581, + 78.31216566359727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 487.8317775079343, + 79.81216566359727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 490.4298537192876, + 81.31216566359727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 493.02792993064094, + 82.81216566359727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 495.62600614199425, + 84.31216566359727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 498.22408235334757, + 85.81216566359727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 500.8221585647009, + 87.31216566359727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 503.4202347760542, + 88.81216566359727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 506.0183109874075, + 90.31216566359727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 508.61638719876083, + 91.81216566359727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 511.21446341011415, + 93.31216566359727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 513.8125396214675, + 94.81216566359727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 516.4106158328209, + 96.31216566359727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 519.0086920441743, + 97.81216566359727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 521.6067682555276, + 99.31216566359727, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 521.6067682555276, + 99.31216566359727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 524.6067682555276, + 99.31216566359727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 527.6067682555276, + 99.31216566359727, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 568.0, + 120.0, + 30.9312 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-6-24_1727952741/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-6-24_1727952741/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f8adda58a62b5dd2521cc68c72c0e98229540e6c --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-6-24_1727952741/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 311.84197376098064, + 86.21069099898595, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 309.2438975496273, + 87.71069099898595, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 306.645821338274, + 89.21069099898595, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 304.0477451269207, + 90.71069099898595, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 301.4496689155674, + 92.21069099898595, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 298.85159270421406, + 93.71069099898595, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 296.25351649286074, + 95.21069099898595, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 293.6554402815074, + 96.71069099898595, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 291.0573640701541, + 98.21069099898595, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 288.4592878588008, + 99.71069099898595, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 285.8612116474475, + 101.21069099898595, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 283.26313543609416, + 102.71069099898595, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 280.66505922474084, + 104.21069099898595, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 280.66505922474084, + 104.21069099898595, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 279.16505922474084, + 106.80876721033927, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 277.66505922474084, + 109.40684342169259, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 276.16505922474084, + 112.0049196330459, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 274.66505922474084, + 114.60299584439922, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 273.16505922474084, + 117.20107205575253, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 271.66505922474084, + 119.79914826710585, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 270.16505922474084, + 122.39722447845917, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 268.66505922474084, + 124.99530068981248, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 267.16505922474084, + 127.5933769011658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 265.66505922474084, + 130.19145311251913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393193 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 264.16505922474084, + 132.78952932387244, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 264.16505922474084, + 132.78952932387244, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 261.5669830133875, + 134.28952932387244, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 258.9689068020342, + 135.78952932387244, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 256.3708305906809, + 137.28952932387244, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 228.0, + 164.0, + 51.3126 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-8-11_1989200801/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-8-11_1989200801/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3faec8136598efb43ca4e12af41c6ea6a5fd9525 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-8-11_1989200801/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -57.67185865885284, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -54.67185865885284, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -51.67185865885284, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -48.67185865885284, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -45.67185865885284, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -42.67185865885284, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -39.67185865885284, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -36.67185865885284, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -33.67185865885284, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -30.67185865885284, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -27.67185865885284, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -24.67185865885284, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -21.67185865885284, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -18.67185865885284, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -15.671858658852841, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -12.671858658852841, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -9.671858658852841, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -6.671858658852841, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -3.671858658852841, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -0.671858658852841, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2.328141341147159, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 5.328141341147159, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 8.328141341147159, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 11.328141341147159, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 14.328141341147159, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 17.32814134114716, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 20.32814134114716, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 23.32814134114716, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 26.32814134114716, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 29.32814134114716, + 274.48957285713914, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 29.32814134114716, + 274.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 31.926217552500475, + 272.98957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 34.52429376385379, + 271.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 37.12236997520711, + 269.98957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 39.72044618656042, + 268.48957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 42.31852239791374, + 266.98957285713914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 44.916598609267055, + 265.48957285713914, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 88.0, + 260.0, + 17.1304 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-8-49_419914800/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-8-49_419914800/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f84d63c76299ff037e74a25231ebb9b6bc2c9296 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-8-49_419914800/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 267.862508154548, + 409.1269479176623, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 269.362508154548, + 406.52887170630896, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 270.862508154548, + 403.93079549495565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 272.362508154548, + 401.33271928360233, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 273.862508154548, + 398.734643072249, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 275.362508154548, + 396.1365668608957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 276.862508154548, + 393.5384906495424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 278.362508154548, + 390.94041443818907, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 279.862508154548, + 388.34233822683575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 281.362508154548, + 385.74426201548243, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 282.862508154548, + 383.1461858041291, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 284.362508154548, + 380.5481095927758, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 285.862508154548, + 377.9500333814225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 287.362508154548, + 375.35195717006917, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 288.862508154548, + 372.75388095871585, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 290.362508154548, + 370.15580474736254, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 291.862508154548, + 367.5577285360092, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 293.362508154548, + 364.9596523246559, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 294.862508154548, + 362.3615761133026, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 296.362508154548, + 359.7634999019493, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 297.862508154548, + 357.16542369059596, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 299.362508154548, + 354.56734747924264, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 300.862508154548, + 351.9692712678893, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 302.362508154548, + 349.371195056536, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 303.862508154548, + 346.7731188451827, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 305.362508154548, + 344.1750426338294, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 306.862508154548, + 341.57696642247606, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 306.862508154548, + 341.57696642247606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 306.862508154548, + 338.57696642247606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 306.862508154548, + 335.57696642247606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 306.862508154548, + 332.57696642247606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 306.862508154548, + 329.57696642247606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 306.862508154548, + 326.57696642247606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 306.862508154548, + 323.57696642247606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 306.862508154548, + 320.57696642247606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 306.862508154548, + 317.57696642247606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 306.862508154548, + 314.57696642247606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 306.862508154548, + 311.57696642247606, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + 276.0, + 64.2459 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +}