diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-01-19_08-56-57_415575/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-01-19_08-56-57_415575/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f158c598af43c7f8746f0706c623e567db2850ab --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-01-19_08-56-57_415575/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 934.4511597433137, + -1145.2196586113848, + 39.11473617245615 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 934.4511597433137, + -1145.2196586113848, + 42.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 937.4511597433137, + -1145.2196586113848, + 42.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 940.4511597433137, + -1145.2196586113848, + 42.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 943.4511597433137, + -1145.2196586113848, + 42.11473617245615 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 943.4511597433137, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 946.4511597433137, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 949.4511597433137, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 952.4511597433137, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 955.4511597433137, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 958.4511597433137, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 961.4511597433137, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 964.4511597433137, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 967.4511597433137, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 970.4511597433137, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 973.4511597433137, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 976.4511597433137, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 979.4511597433137, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 982.4511597433137, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 985.4511597433137, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 988.4511597433137, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 991.4511597433137, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 994.4511597433137, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 997.4511597433137, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1000.4511597433137, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1003.4511597433137, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1006.4511597433137, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1009.4511597433137, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1012.4511597433137, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1015.4511597433137, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1018.4511597433137, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1021.4511597433137, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1024.4511597433138, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1027.4511597433138, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1030.4511597433138, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1033.4511597433138, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1036.4511597433138, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1036.4511597433138, + -1145.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1039.0492359546672, + -1146.7196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1041.6473121660206, + -1148.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1044.245388377374, + -1149.7196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1046.8434645887273, + -1151.2196586113848, + 45.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1049.4415408000807, + -1152.7196586113848, + 45.11473617245615 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1049.4415408000807, + -1152.7196586113848, + 42.11473617245615 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1049.4415408000807, + -1152.7196586113848, + 39.11473617245615 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1049.4415408000807, + -1152.7196586113848, + 39.11473617245615 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1052.4415408000807, + -1152.7196586113848, + 39.11473617245615 + ], + "type": "stop", + "value": 0, + "yaw": 9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1100.0, + -1156.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-01-19_09-01-51_146983/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-01-19_09-01-51_146983/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a7a02f62b2909b30ef10666d2da6a201271c8e7b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-01-19_09-01-51_146983/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 990.6498201834999, + 49.21706341808701, + 23.920461540184277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 992.1498201834999, + 51.815139629440324, + 23.920461540184277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 993.6498201834999, + 54.41321584079364, + 23.920461540184277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 995.1498201834999, + 57.011292052146956, + 23.920461540184277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 996.6498201834999, + 59.60936826350027, + 23.920461540184277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 998.1498201834999, + 62.20744447485359, + 23.920461540184277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 999.6498201834999, + 64.8055206862069, + 23.920461540184277 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 999.6498201834999, + 64.8055206862069, + 26.920461540184277 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 999.6498201834999, + 64.8055206862069, + 29.920461540184277 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 999.6498201834999, + 64.8055206862069, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1001.1498201834999, + 67.40359689756022, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1002.6498201834999, + 70.00167310891354, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1004.1498201834999, + 72.59974932026685, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1005.6498201834999, + 75.19782553162017, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1007.1498201834999, + 77.79590174297348, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1008.6498201834999, + 80.3939779543268, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1010.1498201834999, + 82.99205416568012, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1011.6498201834999, + 85.59013037703343, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1013.1498201834999, + 88.18820658838675, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1014.6498201834999, + 90.78628279974006, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1016.1498201834999, + 93.38435901109338, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1017.6498201834999, + 95.9824352224467, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1019.1498201834999, + 98.58051143380001, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1020.6498201834999, + 101.17858764515333, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1022.1498201834999, + 103.77666385650664, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1023.6498201834999, + 106.37474006785996, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1025.1498201835, + 108.97281627921328, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196565 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1026.6498201835, + 111.57089249056659, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1028.1498201835, + 114.16896870191991, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1029.6498201835, + 116.76704491327322, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1031.1498201835, + 119.36512112462654, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1032.6498201835, + 121.96319733597986, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1034.1498201835, + 124.56127354733317, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1035.6498201835, + 127.15934975868649, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1037.1498201835, + 129.7574259700398, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1038.6498201835, + 132.35550218139312, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1040.1498201835, + 134.95357839274644, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1041.6498201835, + 137.55165460409975, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1043.1498201835, + 140.14973081545307, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1044.6498201835, + 142.74780702680638, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1046.1498201835, + 145.3458832381597, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1047.6498201835, + 147.94395944951302, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1049.1498201835, + 150.54203566086633, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1050.6498201835, + 153.14011187221965, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1052.1498201835, + 155.73818808357296, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1053.6498201835, + 158.33626429492628, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1055.1498201835, + 160.9343405062796, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1056.6498201835, + 163.5324167176329, + 32.92046154018428 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1056.6498201835, + 163.5324167176329, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1056.6498201835, + 166.5324167176329, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1056.6498201835, + 169.5324167176329, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1056.6498201835, + 172.5324167176329, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1056.6498201835, + 175.5324167176329, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1056.6498201835, + 178.5324167176329, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1056.6498201835, + 181.5324167176329, + 32.92046154018428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1056.6498201835, + 184.5324167176329, + 32.92046154018428 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1056.6498201835, + 184.5324167176329, + 29.920461540184277 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1056.6498201835, + 184.5324167176329, + 26.920461540184277 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1056.6498201835, + 184.5324167176329, + 23.920461540184277 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1068.0, + 208.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-01-19_09-03-43_620873/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-01-19_09-03-43_620873/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b89686c03527647d43510988e100b4f792309e4e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-01-19_09-03-43_620873/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1731.1585875744388, + -790.2183299585051, + 37.04091228699093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1734.1585875744388, + -790.2183299585051, + 37.04091228699093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1737.1585875744388, + -790.2183299585051, + 37.04091228699093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1740.1585875744388, + -790.2183299585051, + 37.04091228699093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1743.1585875744388, + -790.2183299585051, + 37.04091228699093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1746.1585875744388, + -790.2183299585051, + 37.04091228699093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1749.1585875744388, + -790.2183299585051, + 37.04091228699093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1752.1585875744388, + -790.2183299585051, + 37.04091228699093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1755.1585875744388, + -790.2183299585051, + 37.04091228699093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1758.1585875744388, + -790.2183299585051, + 37.04091228699093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1761.1585875744388, + -790.2183299585051, + 37.04091228699093 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1761.1585875744388, + -790.2183299585051, + 40.04091228699093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1764.1585875744388, + -790.2183299585051, + 40.04091228699093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1767.1585875744388, + -790.2183299585051, + 40.04091228699093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1770.1585875744388, + -790.2183299585051, + 40.04091228699093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1773.1585875744388, + -790.2183299585051, + 40.04091228699093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1776.1585875744388, + -790.2183299585051, + 40.04091228699093 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1779.1585875744388, + -790.2183299585051, + 40.04091228699093 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1779.1585875744388, + -790.2183299585051, + 40.04091228699093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1781.7566637857922, + -791.7183299585051, + 40.04091228699093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1784.3547399971455, + -793.2183299585051, + 40.04091228699093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1786.952816208499, + -794.7183299585051, + 40.04091228699093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1789.5508924198523, + -796.2183299585051, + 40.04091228699093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1792.1489686312057, + -797.7183299585051, + 40.04091228699093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1794.747044842559, + -799.2183299585051, + 40.04091228699093 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1797.3451210539124, + -800.7183299585051, + 40.04091228699093 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1797.3451210539124, + -800.7183299585051, + 37.04091228699093 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1904.0, + -812.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-01-19_09-04-09_332016/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-01-19_09-04-09_332016/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..45cb46f36fd2a7e9fd1a4cf4f1c8e51ee0e870d6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-01-19_09-04-09_332016/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1255.0172439436112, + -567.6456582149299, + 39.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1252.0172439436112, + -567.6456582149299, + 39.24146558313083 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1252.0172439436112, + -567.6456582149299, + 39.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1249.4191677322578, + -569.1456582149299, + 39.24146558313083 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1249.4191677322578, + -569.1456582149299, + 39.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1247.9191677322578, + -571.7437344262833, + 39.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1246.4191677322578, + -574.3418106376366, + 39.24146558313083 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1246.4191677322578, + -574.3418106376366, + 39.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1243.8210915209045, + -575.8418106376366, + 39.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1241.223015309551, + -577.3418106376366, + 39.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1238.6249390981977, + -578.8418106376366, + 39.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1236.0268628868444, + -580.3418106376366, + 39.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1233.428786675491, + -581.8418106376366, + 39.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1230.8307104641376, + -583.3418106376366, + 39.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1228.2326342527842, + -584.8418106376366, + 39.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1225.6345580414309, + -586.3418106376366, + 39.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1223.0364818300775, + -587.8418106376366, + 39.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1220.4384056187241, + -589.3418106376366, + 39.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1217.8403294073707, + -590.8418106376366, + 39.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1215.2422531960174, + -592.3418106376366, + 39.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1212.644176984664, + -593.8418106376366, + 39.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1210.0461007733106, + -595.3418106376366, + 39.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1207.4480245619573, + -596.8418106376366, + 39.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1204.8499483506039, + -598.3418106376366, + 39.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1202.2518721392505, + -599.8418106376366, + 39.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1199.6537959278971, + -601.3418106376366, + 39.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1197.0557197165438, + -602.8418106376366, + 39.24146558313083 + ], + "type": "go up", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1197.0557197165438, + -602.8418106376366, + 42.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1194.4576435051904, + -604.3418106376366, + 42.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1191.859567293837, + -605.8418106376366, + 42.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1189.2614910824836, + -607.3418106376366, + 42.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1186.6634148711303, + -608.8418106376366, + 42.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1184.065338659777, + -610.3418106376366, + 42.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1181.4672624484235, + -611.8418106376366, + 42.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1178.8691862370702, + -613.3418106376366, + 42.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1176.2711100257168, + -614.8418106376366, + 42.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1173.6730338143634, + -616.3418106376366, + 42.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1171.07495760301, + -617.8418106376366, + 42.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1168.4768813916567, + -619.3418106376366, + 42.24146558313083 + ], + "type": "go up", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1168.4768813916567, + -619.3418106376366, + 45.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1165.8788051803033, + -620.8418106376366, + 45.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1163.28072896895, + -622.3418106376366, + 45.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1160.6826527575965, + -623.8418106376366, + 45.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1158.0845765462432, + -625.3418106376366, + 45.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1155.4865003348898, + -626.8418106376366, + 45.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1152.8884241235364, + -628.3418106376366, + 45.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1150.290347912183, + -629.8418106376366, + 45.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1147.6922717008297, + -631.3418106376366, + 45.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1145.0941954894763, + -632.8418106376366, + 45.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1142.496119278123, + -634.3418106376366, + 45.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1139.8980430667696, + -635.8418106376366, + 45.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1137.2999668554162, + -637.3418106376366, + 45.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1134.7018906440628, + -638.8418106376366, + 45.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1132.1038144327094, + -640.3418106376366, + 45.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1129.505738221356, + -641.8418106376366, + 45.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1126.9076620100027, + -643.3418106376366, + 45.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1124.3095857986493, + -644.8418106376366, + 45.24146558313083 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -1124.3095857986493, + -644.8418106376366, + 42.24146558313083 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -1124.3095857986493, + -644.8418106376366, + 39.24146558313083 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -1121.711509587296, + -646.3418106376366, + 39.24146558313083 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1104.0, + -656.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_19-35-34_424238335/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_19-35-34_424238335/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2946936958105a1e7e89039648a24260f564ff5d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_19-35-34_424238335/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 440.22894980617036, + 991.2210022046544, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 438.72894980617036, + 988.6229259933011, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 437.22894980617036, + 986.0248497819478, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 435.72894980617036, + 983.4267735705944, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 434.22894980617036, + 980.828697359241, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 432.72894980617036, + 978.2306211478876, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 431.22894980617036, + 975.6325449365343, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 429.72894980617036, + 973.0344687251809, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 428.22894980617036, + 970.4363925138275, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 426.72894980617036, + 967.8383163024741, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 425.22894980617036, + 965.2402400911208, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 423.72894980617036, + 962.6421638797674, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 422.22894980617036, + 960.044087668414, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 420.72894980617036, + 957.4460114570606, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 419.22894980617036, + 954.8479352457073, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 417.72894980617036, + 952.2498590343539, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 416.22894980617036, + 949.6517828230005, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 414.72894980617036, + 947.0537066116472, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 413.22894980617036, + 944.4556304002938, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 411.72894980617036, + 941.8575541889404, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 410.22894980617036, + 939.259477977587, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 408.72894980617036, + 936.6614017662337, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 407.22894980617036, + 934.0633255548803, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 405.72894980617036, + 931.4652493435269, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 404.22894980617036, + 928.8671731321735, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 402.72894980617036, + 926.2690969208202, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 401.22894980617036, + 923.6710207094668, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 399.72894980617036, + 921.0729444981134, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 398.22894980617036, + 918.47486828676, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 396.72894980617036, + 915.8767920754067, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 395.22894980617036, + 913.2787158640533, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 393.72894980617036, + 910.6806396526999, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 392.22894980617036, + 908.0825634413466, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 390.72894980617036, + 905.4844872299932, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 389.22894980617036, + 902.8864110186398, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 387.72894980617036, + 900.2883348072864, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 386.22894980617036, + 897.6902585959331, + 39.903636747343924 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 386.22894980617036, + 897.6902585959331, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 383.63087359481705, + 896.1902585959331, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 381.03279738346373, + 894.6902585959331, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 378.4347211721104, + 893.1902585959331, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 375.8366449607571, + 891.6902585959331, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 373.2385687494038, + 890.1902585959331, + 39.903636747343924 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 373.2385687494038, + 890.1902585959331, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 371.7385687494038, + 887.5921823845797, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 370.2385687494038, + 884.9941061732263, + 39.903636747343924 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 368.7385687494038, + 882.396029961873, + 39.903636747343924 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.0, + 848.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_19-54-46_1059961393/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_19-54-46_1059961393/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..389b28fb1829fa5647351f886d99efbfbd82a6cf --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_19-54-46_1059961393/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1551.0042426618359, + 741.4886907071811, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1551.0042426618359, + 738.4886907071811, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1551.0042426618359, + 735.4886907071811, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1551.0042426618359, + 732.4886907071811, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1551.0042426618359, + 729.4886907071811, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1551.0042426618359, + 726.4886907071811, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1551.0042426618359, + 723.4886907071811, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1551.0042426618359, + 720.4886907071811, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1551.0042426618359, + 717.4886907071811, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1551.0042426618359, + 714.4886907071811, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1551.0042426618359, + 711.4886907071811, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1551.0042426618359, + 708.4886907071811, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1551.0042426618359, + 705.4886907071811, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1551.0042426618359, + 702.4886907071811, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1551.0042426618359, + 699.4886907071811, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1551.0042426618359, + 696.4886907071811, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1551.0042426618359, + 693.4886907071811, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1551.0042426618359, + 690.4886907071811, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1551.0042426618359, + 687.4886907071811, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1551.0042426618359, + 684.4886907071811, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1551.0042426618359, + 681.4886907071811, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1551.0042426618359, + 678.4886907071811, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1551.0042426618359, + 675.4886907071811, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1551.0042426618359, + 672.4886907071811, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1551.0042426618359, + 669.4886907071811, + 38.10219592907663 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1551.0042426618359, + 669.4886907071811, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1552.5042426618359, + 666.8906144958278, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1554.0042426618359, + 664.2925382844744, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1555.5042426618359, + 661.694462073121, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1557.0042426618359, + 659.0963858617677, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1558.5042426618359, + 656.4983096504143, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1560.0042426618359, + 653.9002334390609, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1561.5042426618359, + 651.3021572277075, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1563.0042426618359, + 648.7040810163542, + 38.10219592907663 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1564.5042426618359, + 646.1060048050008, + 38.10219592907663 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1576.0, + 588.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-30-4_1749698586/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-30-4_1749698586/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..49f4d0eca61ba93461122c3c91b4d33b20429e21 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-30-4_1749698586/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1204.602369927838, + 506.8282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1202.0042937164847, + 508.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1199.4062175051313, + 509.8282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1196.808141293778, + 511.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1194.2100650824245, + 512.8282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1191.6119888710712, + 514.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1189.0139126597178, + 515.8282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1186.4158364483644, + 517.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1183.817760237011, + 518.8282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1181.2196840256577, + 520.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1178.6216078143043, + 521.8282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1176.023531602951, + 523.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1173.4254553915976, + 524.8282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1170.8273791802442, + 526.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1168.2293029688908, + 527.8282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1165.6312267575374, + 529.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1163.033150546184, + 530.8282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1160.4350743348307, + 532.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1157.8369981234773, + 533.8282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1155.238921912124, + 535.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1152.6408457007706, + 536.8282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1150.0427694894172, + 538.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1147.4446932780638, + 539.8282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1144.8466170667105, + 541.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1142.248540855357, + 542.8282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1139.6504646440037, + 544.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1137.0523884326503, + 545.8282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1134.454312221297, + 547.3282486211334, + 31.20209138630336 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1134.454312221297, + 547.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1131.454312221297, + 547.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1128.454312221297, + 547.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1125.454312221297, + 547.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1122.454312221297, + 547.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1119.454312221297, + 547.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1116.454312221297, + 547.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1113.454312221297, + 547.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1110.454312221297, + 547.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1107.454312221297, + 547.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1104.454312221297, + 547.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1101.454312221297, + 547.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1098.454312221297, + 547.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1095.454312221297, + 547.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1092.454312221297, + 547.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1089.454312221297, + 547.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1086.454312221297, + 547.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1083.454312221297, + 547.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1080.454312221297, + 547.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1077.454312221297, + 547.3282486211334, + 31.20209138630336 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1074.454312221297, + 547.3282486211334, + 31.20209138630336 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1040.0, + 556.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_21-57-56_889023311/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_21-57-56_889023311/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f8a40111ce6bb65b80c9aa4721d4176441a63206 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_21-57-56_889023311/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1667.0030114111473, + 1663.32091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1669.6010876225007, + 1664.82091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1672.199163833854, + 1666.32091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1674.7972400452074, + 1667.82091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1677.3953162565608, + 1669.32091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1679.9933924679142, + 1670.82091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1682.5914686792676, + 1672.32091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1685.189544890621, + 1673.82091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1687.7876211019743, + 1675.32091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1690.3856973133277, + 1676.82091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1692.983773524681, + 1678.32091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1695.5818497360344, + 1679.82091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1698.1799259473878, + 1681.32091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1700.7780021587412, + 1682.82091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1703.3760783700945, + 1684.32091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1705.974154581448, + 1685.82091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1708.5722307928013, + 1687.32091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1711.1703070041547, + 1688.82091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1713.768383215508, + 1690.32091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1716.3664594268614, + 1691.82091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1718.9645356382148, + 1693.32091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1721.5626118495682, + 1694.82091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1724.1606880609215, + 1696.32091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1726.758764272275, + 1697.82091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1729.3568404836283, + 1699.32091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1731.9549166949816, + 1700.82091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1734.552992906335, + 1702.32091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1737.1510691176884, + 1703.82091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1739.7491453290418, + 1705.32091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1742.3472215403951, + 1706.82091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1744.9452977517485, + 1708.32091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1747.5433739631019, + 1709.82091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1750.1414501744553, + 1711.32091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1752.7395263858086, + 1712.82091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1755.337602597162, + 1714.32091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1757.9356788085154, + 1715.82091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1760.5337550198687, + 1717.32091365371, + 35.07279410541348 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1760.5337550198687, + 1717.32091365371, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1762.0337550198687, + 1719.9189898650634, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1763.5337550198687, + 1722.5170660764168, + 35.07279410541348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1765.0337550198687, + 1725.1151422877701, + 35.07279410541348 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1796.0, + 1744.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_22-13-42_620145550/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_22-13-42_620145550/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d6ac3c99b5dd586ee4493589550836c7520f4045 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_22-13-42_620145550/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1503.6082215545284, + 2.8302001713545906, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1502.1082215545284, + 0.23212396000127455, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1500.6082215545284, + -2.3659522513520415, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1499.1082215545284, + -4.9640284627053575, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1497.6082215545284, + -7.5621046740586735, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1496.1082215545284, + -10.16018088541199, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1494.6082215545284, + -12.758257096765306, + 35.84835022957229 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1494.6082215545284, + -12.758257096765306, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1494.6082215545284, + -15.758257096765306, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1494.6082215545284, + -18.758257096765306, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1494.6082215545284, + -21.758257096765306, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1494.6082215545284, + -24.758257096765306, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1494.6082215545284, + -27.758257096765306, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1494.6082215545284, + -30.758257096765306, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1494.6082215545284, + -33.758257096765306, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1494.6082215545284, + -36.758257096765306, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1494.6082215545284, + -39.758257096765306, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1494.6082215545284, + -42.758257096765306, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1494.6082215545284, + -45.758257096765306, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1494.6082215545284, + -48.758257096765306, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1494.6082215545284, + -51.758257096765306, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1494.6082215545284, + -54.758257096765306, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1494.6082215545284, + -57.758257096765306, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1494.6082215545284, + -60.758257096765306, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1494.6082215545284, + -63.758257096765306, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1494.6082215545284, + -66.7582570967653, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1494.6082215545284, + -69.7582570967653, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1494.6082215545284, + -72.7582570967653, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1494.6082215545284, + -75.7582570967653, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1494.6082215545284, + -78.7582570967653, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1494.6082215545284, + -81.7582570967653, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1494.6082215545284, + -84.7582570967653, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1494.6082215545284, + -87.7582570967653, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1494.6082215545284, + -90.7582570967653, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1494.6082215545284, + -93.7582570967653, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1494.6082215545284, + -96.7582570967653, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1494.6082215545284, + -99.7582570967653, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1494.6082215545284, + -102.7582570967653, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1494.6082215545284, + -105.7582570967653, + 35.84835022957229 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1494.6082215545284, + -105.7582570967653, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1496.1082215545284, + -108.35633330811862, + 35.84835022957229 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1496.1082215545284, + -108.35633330811862, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1498.7062977658818, + -109.85633330811862, + 35.84835022957229 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1498.7062977658818, + -109.85633330811862, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1500.2062977658818, + -112.45440951947194, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1501.7062977658818, + -115.05248573082525, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1503.2062977658818, + -117.65056194217857, + 35.84835022957229 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1503.2062977658818, + -117.65056194217857, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1503.2062977658818, + -120.65056194217857, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1503.2062977658818, + -123.65056194217857, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1503.2062977658818, + -126.65056194217857, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1503.2062977658818, + -129.65056194217857, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1503.2062977658818, + -132.65056194217857, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1503.2062977658818, + -135.65056194217857, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1503.2062977658818, + -138.65056194217857, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1503.2062977658818, + -141.65056194217857, + 35.84835022957229 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1503.2062977658818, + -141.65056194217857, + 35.84835022957229 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -1501.7062977658818, + -144.24863815353189, + 35.84835022957229 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1500.0, + -164.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_22-2-32_1569229320/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_22-2-32_1569229320/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..577d1562a7cdfc52591fe1dbacc679c7bd5744c6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_22-2-32_1569229320/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1007.301106365909, + -1319.5717191662125, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1007.301106365909, + -1322.5717191662125, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1007.301106365909, + -1325.5717191662125, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1007.301106365909, + -1328.5717191662125, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1007.301106365909, + -1331.5717191662125, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1007.301106365909, + -1334.5717191662125, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1007.301106365909, + -1337.5717191662125, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1007.301106365909, + -1340.5717191662125, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1007.301106365909, + -1343.5717191662125, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1007.301106365909, + -1346.5717191662125, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1007.301106365909, + -1349.5717191662125, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1007.301106365909, + -1352.5717191662125, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1007.301106365909, + -1355.5717191662125, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1007.301106365909, + -1358.5717191662125, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1007.301106365909, + -1361.5717191662125, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1007.301106365909, + -1364.5717191662125, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1007.301106365909, + -1367.5717191662125, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1007.301106365909, + -1370.5717191662125, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1007.301106365909, + -1373.5717191662125, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1007.301106365909, + -1376.5717191662125, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1007.301106365909, + -1379.5717191662125, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1007.301106365909, + -1382.5717191662125, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1007.301106365909, + -1385.5717191662125, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1007.301106365909, + -1388.5717191662125, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1007.301106365909, + -1391.5717191662125, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1007.301106365909, + -1394.5717191662125, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1007.301106365909, + -1397.5717191662125, + 38.2834564020328 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1007.301106365909, + -1397.5717191662125, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1008.801106365909, + -1400.1697953775658, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1010.301106365909, + -1402.7678715889192, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1011.801106365909, + -1405.3659478002726, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1013.301106365909, + -1407.964024011626, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1014.801106365909, + -1410.5621002229793, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1016.301106365909, + -1413.1601764343327, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1017.801106365909, + -1415.758252645686, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1019.301106365909, + -1418.3563288570394, + 38.2834564020328 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1019.301106365909, + -1418.3563288570394, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1019.301106365909, + -1421.3563288570394, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1019.301106365909, + -1424.3563288570394, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1019.301106365909, + -1427.3563288570394, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1019.301106365909, + -1430.3563288570394, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1019.301106365909, + -1433.3563288570394, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1019.301106365909, + -1436.3563288570394, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1019.301106365909, + -1439.3563288570394, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1019.301106365909, + -1442.3563288570394, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1019.301106365909, + -1445.3563288570394, + 38.2834564020328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1019.301106365909, + -1448.3563288570394, + 38.2834564020328 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1020.0, + -1472.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_23-17-43_630668850/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_23-17-43_630668850/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ffa1c93dacf75dd8eb5bc55781c0090ccdb8f2b0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_23-17-43_630668850/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1776.716155842276, + 69.49081541302643, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1774.1180796309227, + 70.99081541302643, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1771.5200034195693, + 72.49081541302643, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1768.921927208216, + 73.99081541302643, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1766.3238509968626, + 75.49081541302643, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1763.7257747855092, + 76.99081541302643, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1761.1276985741558, + 78.49081541302643, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1758.5296223628025, + 79.99081541302643, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1755.931546151449, + 81.49081541302643, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1753.3334699400957, + 82.99081541302643, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1750.7353937287423, + 84.49081541302643, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1748.137317517389, + 85.99081541302643, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1745.5392413060356, + 87.49081541302643, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1742.9411650946822, + 88.99081541302643, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1740.3430888833288, + 90.49081541302643, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1737.7450126719755, + 91.99081541302643, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1735.146936460622, + 93.49081541302643, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1732.5488602492687, + 94.99081541302643, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1729.9507840379154, + 96.49081541302643, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1727.352707826562, + 97.99081541302643, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1724.7546316152086, + 99.49081541302643, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1722.1565554038552, + 100.99081541302643, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1719.5584791925019, + 102.49081541302643, + 32.66946356904747 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1719.5584791925019, + 102.49081541302643, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1718.0584791925019, + 105.08889162437974, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1716.5584791925019, + 107.68696783573306, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1715.0584791925019, + 110.28504404708637, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1713.5584791925019, + 112.88312025843969, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1712.0584791925019, + 115.481196469793, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1710.5584791925019, + 118.07927268114632, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1709.0584791925019, + 120.67734889249964, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1707.5584791925019, + 123.27542510385295, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1706.0584791925019, + 125.87350131520627, + 32.66946356904747 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1706.0584791925019, + 125.87350131520627, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1703.4604029811485, + 127.37350131520627, + 32.66946356904747 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1700.8623267697951, + 128.87350131520625, + 32.66946356904747 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1644.0, + 172.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_23-24-14_201690613/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_23-24-14_201690613/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5296d22c0ba297759a102a69e4c8ef0426b7ca8f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_23-24-14_201690613/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1750.3748699005534, + -453.27975240603763, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1747.3748699005534, + -453.27975240603763, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1744.3748699005534, + -453.27975240603763, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1741.3748699005534, + -453.27975240603763, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1738.3748699005534, + -453.27975240603763, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1735.3748699005534, + -453.27975240603763, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1732.3748699005534, + -453.27975240603763, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1729.3748699005534, + -453.27975240603763, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1726.3748699005534, + -453.27975240603763, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1723.3748699005534, + -453.27975240603763, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1720.3748699005534, + -453.27975240603763, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1717.3748699005534, + -453.27975240603763, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1714.3748699005534, + -453.27975240603763, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1711.3748699005534, + -453.27975240603763, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1708.3748699005534, + -453.27975240603763, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1705.3748699005534, + -453.27975240603763, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1702.3748699005534, + -453.27975240603763, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1699.3748699005534, + -453.27975240603763, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1696.3748699005534, + -453.27975240603763, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1693.3748699005534, + -453.27975240603763, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1690.3748699005534, + -453.27975240603763, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1687.3748699005534, + -453.27975240603763, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1684.3748699005534, + -453.27975240603763, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1681.3748699005534, + -453.27975240603763, + 31.90833587851635 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1681.3748699005534, + -453.27975240603763, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1678.7767936892, + -451.77975240603763, + 31.90833587851635 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1678.7767936892, + -451.77975240603763, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1677.2767936892, + -449.1816761946843, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1675.7767936892, + -446.583599983331, + 31.90833587851635 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1675.7767936892, + -446.583599983331, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1673.1787174778467, + -445.083599983331, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1670.5806412664933, + -443.583599983331, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1667.98256505514, + -442.083599983331, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1665.3844888437866, + -440.583599983331, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1662.7864126324332, + -439.083599983331, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1660.1883364210798, + -437.583599983331, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1657.5902602097265, + -436.083599983331, + 31.90833587851635 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1657.5902602097265, + -436.083599983331, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1654.5902602097265, + -436.083599983331, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1651.5902602097265, + -436.083599983331, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1648.5902602097265, + -436.083599983331, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1645.5902602097265, + -436.083599983331, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1642.5902602097265, + -436.083599983331, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1639.5902602097265, + -436.083599983331, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1636.5902602097265, + -436.083599983331, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1633.5902602097265, + -436.083599983331, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1630.5902602097265, + -436.083599983331, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1627.5902602097265, + -436.083599983331, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1624.5902602097265, + -436.083599983331, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1621.5902602097265, + -436.083599983331, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1618.5902602097265, + -436.083599983331, + 31.90833587851635 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1618.5902602097265, + -436.083599983331, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1615.992183998373, + -434.583599983331, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1613.3941077870197, + -433.083599983331, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1610.7960315756663, + -431.583599983331, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1608.197955364313, + -430.083599983331, + 31.90833587851635 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1608.197955364313, + -430.083599983331, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -1605.197955364313, + -430.083599983331, + 31.90833587851635 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -1605.197955364313, + -430.083599983331, + 31.90833587851635 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -1605.197955364313, + -430.083599983331, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -1603.697955364313, + -427.4855237719777, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -1602.197955364313, + -424.88744756062437, + 31.90833587851635 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -1600.697955364313, + -422.28937134927105, + 31.90833587851635 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1580.0, + -416.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_23-52-26_1795519125/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_23-52-26_1795519125/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4d2da6cc3b50a8f342ae3f76bb6bfa274d8f0526 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_23-52-26_1795519125/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -97.50740064113154, + 402.8823144605648, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -94.90932442977822, + 404.3823144605648, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -92.31124821842491, + 405.8823144605648, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -89.71317200707159, + 407.3823144605648, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -87.11509579571828, + 408.8823144605648, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -84.51701958436496, + 410.3823144605648, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -81.91894337301164, + 411.8823144605648, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -79.32086716165833, + 413.3823144605648, + 31.389159657025125 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -79.32086716165833, + 413.3823144605648, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -77.82086716165833, + 415.98039067191814, + 31.389159657025125 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -77.82086716165833, + 415.98039067191814, + 31.389159657025125 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -77.82086716165833, + 415.98039067191814, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -74.82086716165833, + 415.98039067191814, + 31.389159657025125 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -74.82086716165833, + 415.98039067191814, + 31.389159657025125 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -74.82086716165833, + 415.98039067191814, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -73.32086716165833, + 418.57846688327146, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -71.82086716165833, + 421.1765430946248, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -70.32086716165833, + 423.7746193059781, + 31.389159657025125 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -70.32086716165833, + 423.7746193059781, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -70.32086716165833, + 426.7746193059781, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -70.32086716165833, + 429.7746193059781, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -70.32086716165833, + 432.7746193059781, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -70.32086716165833, + 435.7746193059781, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -70.32086716165833, + 438.7746193059781, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -70.32086716165833, + 441.7746193059781, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -70.32086716165833, + 444.7746193059781, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -70.32086716165833, + 447.7746193059781, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -70.32086716165833, + 450.7746193059781, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -70.32086716165833, + 453.7746193059781, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -70.32086716165833, + 456.7746193059781, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -70.32086716165833, + 459.7746193059781, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -70.32086716165833, + 462.7746193059781, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -70.32086716165833, + 465.7746193059781, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -70.32086716165833, + 468.7746193059781, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -70.32086716165833, + 471.7746193059781, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -70.32086716165833, + 474.7746193059781, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -70.32086716165833, + 477.7746193059781, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -70.32086716165833, + 480.7746193059781, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -70.32086716165833, + 483.7746193059781, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -70.32086716165833, + 486.7746193059781, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -70.32086716165833, + 489.7746193059781, + 31.389159657025125 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -70.32086716165833, + 489.7746193059781, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -71.82086716165833, + 492.3726955173314, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -73.32086716165833, + 494.9707717286847, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -74.82086716165833, + 497.56884794003804, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -76.32086716165833, + 500.16692415139136, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -77.82086716165833, + 502.7650003627447, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -79.32086716165833, + 505.363076574098, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -80.82086716165833, + 507.9611527854513, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -82.32086716165833, + 510.5592289968046, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -83.82086716165833, + 513.1573052081579, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -85.32086716165833, + 515.7553814195112, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -86.82086716165833, + 518.3534576308646, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -88.32086716165833, + 520.9515338422179, + 31.389159657025125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -89.82086716165833, + 523.5496100535713, + 31.389159657025125 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -88.0, + 572.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_23-8-57_846942590/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_23-8-57_846942590/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c8094c7dea8f001f4895a1ba7aec5ad5fe5381bd --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_23-8-57_846942590/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 774.6160955204875, + -1686.5851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 772.0180193091342, + -1685.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 769.4199430977808, + -1683.5851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 766.8218668864274, + -1682.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 764.223790675074, + -1680.5851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 761.6257144637207, + -1679.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 759.0276382523673, + -1677.5851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 756.4295620410139, + -1676.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 753.8314858296606, + -1674.5851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 751.2334096183072, + -1673.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 748.6353334069538, + -1671.5851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 746.0372571956004, + -1670.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 743.4391809842471, + -1668.5851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 740.8411047728937, + -1667.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 738.2430285615403, + -1665.5851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 735.6449523501869, + -1664.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 733.0468761388336, + -1662.5851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 730.4487999274802, + -1661.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 727.8507237161268, + -1659.5851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 725.2526475047734, + -1658.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 722.6545712934201, + -1656.5851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 720.0564950820667, + -1655.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 717.4584188707133, + -1653.5851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 714.86034265936, + -1652.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 712.2622664480066, + -1650.5851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 709.6641902366532, + -1649.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 707.0661140252998, + -1647.5851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 704.4680378139465, + -1646.0851553682098, + 39.416673299347785 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 704.4680378139465, + -1646.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 701.4680378139465, + -1646.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 698.4680378139465, + -1646.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 695.4680378139465, + -1646.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 692.4680378139465, + -1646.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 689.4680378139465, + -1646.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 686.4680378139465, + -1646.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 683.4680378139465, + -1646.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 680.4680378139465, + -1646.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 677.4680378139465, + -1646.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 674.4680378139465, + -1646.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 671.4680378139465, + -1646.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 668.4680378139465, + -1646.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 665.4680378139465, + -1646.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 662.4680378139465, + -1646.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 659.4680378139465, + -1646.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 656.4680378139465, + -1646.0851553682098, + 39.416673299347785 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 656.4680378139465, + -1646.0851553682098, + 39.416673299347785 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 656.4680378139465, + -1646.0851553682098, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 654.9680378139465, + -1643.4870791568565, + 39.416673299347785 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 653.4680378139465, + -1640.889002945503, + 39.416673299347785 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 620.0, + -1628.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_0-10-37_669908538/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_0-10-37_669908538/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6a696ce005a5acfaa24e6b432b463fe5a49dc473 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_0-10-37_669908538/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 650.1138621384192, + -1047.0099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 647.515785927066, + -1045.5099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 644.9177097157126, + -1044.0099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 642.3196335043592, + -1042.5099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 639.7215572930058, + -1041.0099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 637.1234810816525, + -1039.5099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 634.5254048702991, + -1038.0099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 631.9273286589457, + -1036.5099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 629.3292524475924, + -1035.0099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 626.731176236239, + -1033.5099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 624.1331000248856, + -1032.0099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 621.5350238135322, + -1030.5099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 618.9369476021789, + -1029.0099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 616.3388713908255, + -1027.5099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 613.7407951794721, + -1026.0099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 611.1427189681187, + -1024.5099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 608.5446427567654, + -1023.0099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 605.946566545412, + -1021.5099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 603.3484903340586, + -1020.0099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 600.7504141227053, + -1018.5099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 598.1523379113519, + -1017.0099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 595.5542616999985, + -1015.5099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 592.9561854886451, + -1014.0099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 590.3581092772918, + -1012.5099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 587.7600330659384, + -1011.0099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 585.161956854585, + -1009.5099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 582.5638806432316, + -1008.0099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 579.9658044318783, + -1006.5099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 577.3677282205249, + -1005.0099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 574.7696520091715, + -1003.5099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 572.1715757978182, + -1002.0099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 569.5734995864648, + -1000.5099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 566.9754233751114, + -999.0099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 564.377347163758, + -997.5099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 561.7792709524047, + -996.0099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 559.1811947410513, + -994.5099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 556.5831185296979, + -993.0099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 553.9850423183445, + -991.5099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 551.3869661069912, + -990.0099905082443, + 37.22989199841319 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 551.3869661069912, + -990.0099905082443, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 549.8869661069912, + -987.4119142968909, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 548.3869661069912, + -984.8138380855376, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 546.8869661069912, + -982.2157618741842, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 545.3869661069912, + -979.6176856628308, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 543.8869661069912, + -977.0196094514774, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 542.3869661069912, + -974.4215332401241, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 540.8869661069912, + -971.8234570287707, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 539.3869661069912, + -969.2253808174173, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 537.8869661069912, + -966.627304606064, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 536.3869661069912, + -964.0292283947106, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 534.8869661069912, + -961.4311521833572, + 37.22989199841319 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 534.8869661069912, + -961.4311521833572, + 37.22989199841319 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 534.8869661069912, + -961.4311521833572, + 37.22989199841319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897833 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 531.8869661069912, + -961.4311521833572, + 37.22989199841319 + ], + "type": "stop", + "value": 0, + "yaw": 3.1415926535897833 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 508.0, + -944.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_0-34-25_500618996/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_0-34-25_500618996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d58e286e1ba6ff9e015194a5cc89bc366760bf59 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_0-34-25_500618996/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 60.610570455765895, + 484.6122459577917, + 34.72400214349755 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 58.01249424441258, + 486.1122459577917, + 34.72400214349755 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 55.41441803305926, + 487.6122459577917, + 34.72400214349755 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 52.81634182170595, + 489.1122459577917, + 34.72400214349755 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 50.21826561035263, + 490.6122459577917, + 34.72400214349755 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 47.620189398999315, + 492.1122459577917, + 34.72400214349755 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 45.022113187646, + 493.6122459577917, + 34.72400214349755 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 42.42403697629268, + 495.1122459577917, + 34.72400214349755 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 39.82596076493937, + 496.6122459577917, + 34.72400214349755 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 37.22788455358605, + 498.1122459577917, + 34.72400214349755 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 34.629808342232735, + 499.6122459577917, + 34.72400214349755 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 32.03173213087942, + 501.1122459577917, + 34.72400214349755 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 29.433655919526103, + 502.6122459577917, + 34.72400214349755 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 26.835579708172787, + 504.1122459577917, + 34.72400214349755 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 24.23750349681947, + 505.6122459577917, + 34.72400214349755 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 21.639427285466155, + 507.1122459577917, + 34.72400214349755 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 19.04135107411284, + 508.6122459577917, + 34.72400214349755 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 16.443274862759523, + 510.1122459577917, + 34.72400214349755 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 13.845198651406207, + 511.6122459577917, + 34.72400214349755 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 11.247122440052891, + 513.1122459577916, + 34.72400214349755 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991511 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 8.649046228699575, + 514.6122459577916, + 34.72400214349755 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 6.050970017346259, + 516.1122459577916, + 34.72400214349755 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3.452893805992943, + 517.6122459577916, + 34.72400214349755 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 0.854817594639627, + 519.1122459577916, + 34.72400214349755 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1.743258616713689, + 520.6122459577916, + 34.72400214349755 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -88.0, + 572.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_1-13-36_941804289/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_1-13-36_941804289/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1320585e3df5a21fcdb6fa1aae94556be7ce2c6e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_1-13-36_941804289/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1542.5732759689724, + -1114.5441558274176, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1539.975199757619, + -1116.0441558274176, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1537.3771235462657, + -1117.5441558274176, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1534.7790473349123, + -1119.0441558274176, + 30.37651483175769 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1534.7790473349123, + -1119.0441558274176, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1533.2790473349123, + -1121.642232038771, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1531.7790473349123, + -1124.2403082501244, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1530.2790473349123, + -1126.8383844614777, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1528.7790473349123, + -1129.4364606728311, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1527.2790473349123, + -1132.0345368841845, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1525.7790473349123, + -1134.6326130955379, + 30.37651483175769 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1525.7790473349123, + -1134.6326130955379, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1525.7790473349123, + -1137.6326130955379, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1525.7790473349123, + -1140.6326130955379, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1525.7790473349123, + -1143.6326130955379, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1525.7790473349123, + -1146.6326130955379, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1525.7790473349123, + -1149.6326130955379, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1525.7790473349123, + -1152.6326130955379, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1525.7790473349123, + -1155.6326130955379, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1525.7790473349123, + -1158.6326130955379, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1525.7790473349123, + -1161.6326130955379, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1525.7790473349123, + -1164.6326130955379, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1525.7790473349123, + -1167.6326130955379, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1525.7790473349123, + -1170.6326130955379, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1525.7790473349123, + -1173.6326130955379, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1525.7790473349123, + -1176.6326130955379, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1525.7790473349123, + -1179.6326130955379, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1525.7790473349123, + -1182.6326130955379, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1525.7790473349123, + -1185.6326130955379, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1525.7790473349123, + -1188.6326130955379, + 30.37651483175769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1525.7790473349123, + -1191.6326130955379, + 30.37651483175769 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1512.0, + -1264.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_1-14-41_2045826607/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_1-14-41_2045826607/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bf503c2e176d49403a779ccd5b11b8f1d113203c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_1-14-41_2045826607/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 697.8065962676153, + -1322.0889860192203, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 699.3065962676153, + -1319.490909807867, + 31.446567773978067 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 699.3065962676153, + -1319.490909807867, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 699.3065962676153, + -1316.490909807867, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 699.3065962676153, + -1313.490909807867, + 31.446567773978067 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 699.3065962676153, + -1313.490909807867, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 700.8065962676153, + -1310.8928335965136, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 702.3065962676153, + -1308.2947573851602, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 703.8065962676153, + -1305.6966811738068, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 705.3065962676153, + -1303.0986049624535, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 706.8065962676153, + -1300.5005287511, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 708.3065962676153, + -1297.9024525397467, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 709.8065962676153, + -1295.3043763283933, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 711.3065962676153, + -1292.70630011704, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 712.8065962676153, + -1290.1082239056866, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 714.3065962676153, + -1287.5101476943332, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 715.8065962676153, + -1284.9120714829799, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 717.3065962676153, + -1282.3139952716265, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 718.8065962676153, + -1279.715919060273, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 720.3065962676153, + -1277.1178428489197, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 721.8065962676153, + -1274.5197666375664, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 723.3065962676153, + -1271.921690426213, + 31.446567773978067 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 723.3065962676153, + -1271.921690426213, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 725.9046724789687, + -1270.421690426213, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 728.502748690322, + -1268.921690426213, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 731.1008249016754, + -1267.421690426213, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 733.6989011130288, + -1265.921690426213, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 736.2969773243822, + -1264.421690426213, + 31.446567773978067 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 736.2969773243822, + -1264.421690426213, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 737.7969773243822, + -1261.8236142148596, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 739.2969773243822, + -1259.2255380035062, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 740.7969773243822, + -1256.6274617921529, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 742.2969773243822, + -1254.0293855807995, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 743.7969773243822, + -1251.4313093694461, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 745.2969773243822, + -1248.8332331580928, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 746.7969773243822, + -1246.2351569467394, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 748.2969773243822, + -1243.637080735386, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 749.7969773243822, + -1241.0390045240326, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 751.2969773243822, + -1238.4409283126793, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 752.7969773243822, + -1235.842852101326, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 754.2969773243822, + -1233.2447758899725, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 755.7969773243822, + -1230.6466996786191, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 757.2969773243822, + -1228.0486234672658, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 758.7969773243822, + -1225.4505472559124, + 31.446567773978067 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 758.7969773243822, + -1225.4505472559124, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 758.7969773243822, + -1222.4505472559124, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 758.7969773243822, + -1219.4505472559124, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 758.7969773243822, + -1216.4505472559124, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 758.7969773243822, + -1213.4505472559124, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 758.7969773243822, + -1210.4505472559124, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 758.7969773243822, + -1207.4505472559124, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 758.7969773243822, + -1204.4505472559124, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 758.7969773243822, + -1201.4505472559124, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 758.7969773243822, + -1198.4505472559124, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 758.7969773243822, + -1195.4505472559124, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 758.7969773243822, + -1192.4505472559124, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 758.7969773243822, + -1189.4505472559124, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 758.7969773243822, + -1186.4505472559124, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 758.7969773243822, + -1183.4505472559124, + 31.446567773978067 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 758.7969773243822, + -1180.4505472559124, + 31.446567773978067 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 768.0, + -1160.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_1-36-53_1280631491/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_1-36-53_1280631491/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..07368b1b47dac4f64b056797a76f4858334022a9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_1-36-53_1280631491/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 834.1062917675398, + 870.8433237502442, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 835.6062917675398, + 873.4413999615974, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 837.1062917675398, + 876.0394761729508, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 838.6062917675398, + 878.6375523843042, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 840.1062917675398, + 881.2356285956575, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 841.6062917675398, + 883.8337048070109, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 843.1062917675398, + 886.4317810183643, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 844.6062917675398, + 889.0298572297177, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 846.1062917675398, + 891.627933441071, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 847.6062917675398, + 894.2260096524244, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 849.1062917675398, + 896.8240858637778, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 850.6062917675398, + 899.4221620751312, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 852.1062917675398, + 902.0202382864845, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 853.6062917675398, + 904.6183144978379, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 855.1062917675398, + 907.2163907091913, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 856.6062917675398, + 909.8144669205446, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 858.1062917675398, + 912.412543131898, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 859.6062917675398, + 915.0106193432514, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 861.1062917675398, + 917.6086955546048, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 862.6062917675398, + 920.2067717659581, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 864.1062917675398, + 922.8048479773115, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 865.6062917675398, + 925.4029241886649, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 867.1062917675398, + 928.0010004000183, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 868.6062917675398, + 930.5990766113716, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 870.1062917675398, + 933.197152822725, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 871.6062917675398, + 935.7952290340784, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 873.1062917675398, + 938.3933052454317, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 874.6062917675398, + 940.9913814567851, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 876.1062917675398, + 943.5894576681385, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 877.6062917675398, + 946.1875338794919, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 879.1062917675398, + 948.7856100908452, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 880.6062917675398, + 951.3836863021986, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 882.1062917675398, + 953.981762513552, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 883.6062917675398, + 956.5798387249054, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 885.1062917675398, + 959.1779149362587, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 886.6062917675398, + 961.7759911476121, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 888.1062917675398, + 964.3740673589655, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 889.6062917675398, + 966.9721435703188, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 891.1062917675398, + 969.5702197816722, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 892.6062917675398, + 972.1682959930256, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 894.1062917675398, + 974.766372204379, + 31.60554323083872 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 894.1062917675398, + 974.766372204379, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 896.7043679788931, + 976.266372204379, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 899.3024441902464, + 977.766372204379, + 31.60554323083872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 901.9005204015998, + 979.266372204379, + 31.60554323083872 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 924.0, + 1012.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_1-48-23_628974580/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_1-48-23_628974580/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e97c76bf5d66c17f4e213b2cece8fcf8fab37aff --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_1-48-23_628974580/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 507.2787321557389, + -1708.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 510.2787321557389, + -1708.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 513.2787321557389, + -1708.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 516.2787321557389, + -1708.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 519.2787321557389, + -1708.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 522.2787321557389, + -1708.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 525.2787321557389, + -1708.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 528.2787321557389, + -1708.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 531.2787321557389, + -1708.4538941720498, + 39.48242484567572 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 531.2787321557389, + -1708.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 533.8768083670923, + -1709.9538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 536.4748845784457, + -1711.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 539.072960789799, + -1712.9538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 541.6710370011524, + -1714.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 544.2691132125058, + -1715.9538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 546.8671894238591, + -1717.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 549.4652656352125, + -1718.9538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 552.0633418465659, + -1720.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 554.6614180579193, + -1721.9538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 557.2594942692726, + -1723.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 559.857570480626, + -1724.9538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 562.4556466919794, + -1726.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 565.0537229033328, + -1727.9538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 567.6517991146861, + -1729.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 570.2498753260395, + -1730.9538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 572.8479515373929, + -1732.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 575.4460277487462, + -1733.9538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 578.0441039600996, + -1735.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 580.642180171453, + -1736.9538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 583.2402563828064, + -1738.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 585.8383325941597, + -1739.9538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 588.4364088055131, + -1741.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 591.0344850168665, + -1742.9538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 593.6325612282199, + -1744.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 596.2306374395732, + -1745.9538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 598.8287136509266, + -1747.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 601.42678986228, + -1748.9538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 604.0248660736333, + -1750.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 606.6229422849867, + -1751.9538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 609.2210184963401, + -1753.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 611.8190947076935, + -1754.9538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 614.4171709190468, + -1756.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 617.0152471304002, + -1757.9538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 619.6133233417536, + -1759.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 622.211399553107, + -1760.9538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 624.8094757644603, + -1762.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 627.4075519758137, + -1763.9538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 630.0056281871671, + -1765.4538941720498, + 39.48242484567572 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 630.0056281871671, + -1765.4538941720498, + 39.48242484567572 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 633.0056281871671, + -1765.4538941720498, + 39.48242484567572 + ], + "type": "stop", + "value": 0, + "yaw": 9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 656.0, + -1776.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-0-40_1702943003/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-0-40_1702943003/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..302a95e7505008acbdc1cfa3a9b8bb4f7295e8a5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-0-40_1702943003/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1524.6005528562225, + -1382.0520908250123, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1524.6005528562225, + -1379.0520908250123, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1524.6005528562225, + -1376.0520908250123, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1524.6005528562225, + -1373.0520908250123, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1524.6005528562225, + -1370.0520908250123, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1524.6005528562225, + -1367.0520908250123, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1524.6005528562225, + -1364.0520908250123, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1524.6005528562225, + -1361.0520908250123, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1524.6005528562225, + -1358.0520908250123, + 35.36964470361683 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1524.6005528562225, + -1358.0520908250123, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1523.1005528562225, + -1355.454014613659, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1521.6005528562225, + -1352.8559384023056, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1520.1005528562225, + -1350.2578621909522, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1518.6005528562225, + -1347.6597859795988, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1517.1005528562225, + -1345.0617097682455, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1515.6005528562225, + -1342.463633556892, + 35.36964470361683 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1515.6005528562225, + -1342.463633556892, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1513.0024766448691, + -1340.963633556892, + 35.36964470361683 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1513.0024766448691, + -1340.963633556892, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1511.5024766448691, + -1338.3655573455387, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1510.0024766448691, + -1335.7674811341853, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1508.5024766448691, + -1333.169404922832, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1507.0024766448691, + -1330.5713287114786, + 35.36964470361683 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1507.0024766448691, + -1330.5713287114786, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1507.0024766448691, + -1327.5713287114786, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1507.0024766448691, + -1324.5713287114786, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1507.0024766448691, + -1321.5713287114786, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1507.0024766448691, + -1318.5713287114786, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1507.0024766448691, + -1315.5713287114786, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1507.0024766448691, + -1312.5713287114786, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1507.0024766448691, + -1309.5713287114786, + 35.36964470361683 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1507.0024766448691, + -1309.5713287114786, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1508.5024766448691, + -1306.9732525001252, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1510.0024766448691, + -1304.3751762887719, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1511.5024766448691, + -1301.7771000774185, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1513.0024766448691, + -1299.179023866065, + 35.36964470361683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1514.5024766448691, + -1296.5809476547117, + 35.36964470361683 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1508.0, + -1220.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-20-58_1953197930/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-20-58_1953197930/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4997a6bf918785fd93395d03b7307a9a740c7340 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-20-58_1953197930/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1751.5431543406398, + -909.4871237984745, + 37.925591925248845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1754.5431543406398, + -909.4871237984745, + 37.925591925248845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1757.5431543406398, + -909.4871237984745, + 37.925591925248845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1760.5431543406398, + -909.4871237984745, + 37.925591925248845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1763.5431543406398, + -909.4871237984745, + 37.925591925248845 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1924.0, + -888.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-49-28_1989352324/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-49-28_1989352324/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d5d371107a64e7d0ca366c584402a9e958c482b3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-49-28_1989352324/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 318.2362715020515, + -413.10253109954976, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 316.7362715020515, + -415.7006073109031, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 315.2362715020515, + -418.2986835222564, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 313.7362715020515, + -420.8967597336097, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 312.2362715020515, + -423.49483594496303, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 310.7362715020515, + -426.09291215631634, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 309.2362715020515, + -428.69098836766966, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 307.7362715020515, + -431.289064579023, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 306.2362715020515, + -433.8871407903763, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 304.7362715020515, + -436.4852170017296, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 303.2362715020515, + -439.0832932130829, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 301.7362715020515, + -441.68136942443624, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 300.2362715020515, + -444.27944563578956, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 298.7362715020515, + -446.8775218471429, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 297.2362715020515, + -449.4755980584962, + 31.01706253196898 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 297.2362715020515, + -449.4755980584962, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 297.2362715020515, + -452.4755980584962, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 297.2362715020515, + -455.4755980584962, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 297.2362715020515, + -458.4755980584962, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 297.2362715020515, + -461.4755980584962, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 297.2362715020515, + -464.4755980584962, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 297.2362715020515, + -467.4755980584962, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 297.2362715020515, + -470.4755980584962, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 297.2362715020515, + -473.4755980584962, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 297.2362715020515, + -476.4755980584962, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 297.2362715020515, + -479.4755980584962, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 297.2362715020515, + -482.4755980584962, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 297.2362715020515, + -485.4755980584962, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 297.2362715020515, + -488.4755980584962, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 297.2362715020515, + -491.4755980584962, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 297.2362715020515, + -494.4755980584962, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 297.2362715020515, + -497.4755980584962, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 297.2362715020515, + -500.4755980584962, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 297.2362715020515, + -503.4755980584962, + 31.01706253196898 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 297.2362715020515, + -503.4755980584962, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 298.7362715020515, + -506.0736742698495, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 300.2362715020515, + -508.6717504812028, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 301.7362715020515, + -511.26982669255614, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 303.2362715020515, + -513.8679029039095, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 304.7362715020515, + -516.4659791152628, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 306.2362715020515, + -519.0640553266162, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 307.7362715020515, + -521.6621315379696, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 309.2362715020515, + -524.260207749323, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 310.7362715020515, + -526.8582839606763, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 312.2362715020515, + -529.4563601720297, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 313.7362715020515, + -532.0544363833831, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 315.2362715020515, + -534.6525125947364, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 316.7362715020515, + -537.2505888060898, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 318.2362715020515, + -539.8486650174432, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 319.7362715020515, + -542.4467412287966, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 321.2362715020515, + -545.0448174401499, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 322.7362715020515, + -547.6428936515033, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 324.2362715020515, + -550.2409698628567, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 325.7362715020515, + -552.83904607421, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 327.2362715020515, + -555.4371222855634, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 328.7362715020515, + -558.0351984969168, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 330.2362715020515, + -560.6332747082702, + 31.01706253196898 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 330.2362715020515, + -560.6332747082702, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 330.2362715020515, + -563.6332747082702, + 31.01706253196898 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 330.2362715020515, + -566.6332747082702, + 31.01706253196898 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 332.0, + -584.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_11-56-21_198619204/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_11-56-21_198619204/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c256968f711ad0b981181b49a7b8b0e62a489523 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_11-56-21_198619204/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -13.53421559374344, + 958.8672688208261, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -15.03421559374344, + 956.2691926094728, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -16.53421559374344, + 953.6711163981195, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -18.03421559374344, + 951.0730401867661, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -19.53421559374344, + 948.4749639754127, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -21.03421559374344, + 945.8768877640593, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -22.53421559374344, + 943.278811552706, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -24.03421559374344, + 940.6807353413526, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -25.53421559374344, + 938.0826591299992, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -27.03421559374344, + 935.4845829186459, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -28.53421559374344, + 932.8865067072925, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -30.03421559374344, + 930.2884304959391, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -31.53421559374344, + 927.6903542845857, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -33.03421559374344, + 925.0922780732324, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -34.53421559374344, + 922.494201861879, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -36.03421559374344, + 919.8961256505256, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -37.53421559374344, + 917.2980494391722, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -39.03421559374344, + 914.6999732278189, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -40.53421559374344, + 912.1018970164655, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -42.03421559374344, + 909.5038208051121, + 39.81479319885973 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -42.03421559374344, + 909.5038208051121, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -44.632291805096756, + 908.0038208051121, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -47.23036801645007, + 906.5038208051121, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -49.82844422780339, + 905.0038208051121, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -52.426520439156704, + 903.5038208051121, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -55.02459665051002, + 902.0038208051121, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -57.622672861863336, + 900.5038208051121, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -60.22074907321665, + 899.0038208051121, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -62.81882528456997, + 897.5038208051121, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -65.41690149592328, + 896.0038208051121, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -68.0149777072766, + 894.5038208051121, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -70.61305391862992, + 893.0038208051121, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -73.21113012998323, + 891.5038208051121, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -75.80920634133655, + 890.0038208051121, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -78.40728255268986, + 888.5038208051121, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -81.00535876404318, + 887.0038208051121, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -83.6034349753965, + 885.5038208051121, + 39.81479319885973 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -83.6034349753965, + 885.5038208051121, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -85.1034349753965, + 882.9057445937588, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -86.6034349753965, + 880.3076683824054, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -88.1034349753965, + 877.709592171052, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -89.6034349753965, + 875.1115159596986, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -91.1034349753965, + 872.5134397483453, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -92.6034349753965, + 869.9153635369919, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -94.1034349753965, + 867.3172873256385, + 39.81479319885973 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -95.6034349753965, + 864.7192111142851, + 39.81479319885973 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -120.0, + 836.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-37-43_429363923/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-37-43_429363923/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..37a9ceafd661ac6937487370f82110832d877bd8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-37-43_429363923/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -505.0280451960352, + -1637.606252615394, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -506.5280451960352, + -1635.0081764040406, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -508.0280451960352, + -1632.4101001926872, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -509.5280451960352, + -1629.8120239813338, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -511.0280451960352, + -1627.2139477699805, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -512.5280451960351, + -1624.615871558627, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931695 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -514.0280451960351, + -1622.0177953472737, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -515.5280451960351, + -1619.4197191359203, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -517.0280451960351, + -1616.821642924567, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -518.5280451960351, + -1614.2235667132136, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -520.0280451960351, + -1611.6254905018602, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -521.5280451960351, + -1609.0274142905068, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -523.0280451960351, + -1606.4293380791535, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -524.5280451960351, + -1603.8312618678, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -526.0280451960351, + -1601.2331856564467, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -527.5280451960351, + -1598.6351094450933, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -529.0280451960351, + -1596.03703323374, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -530.5280451960351, + -1593.4389570223866, + 32.69108292415929 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -530.5280451960351, + -1593.4389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -530.5280451960351, + -1590.4389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -530.5280451960351, + -1587.4389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -530.5280451960351, + -1584.4389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -530.5280451960351, + -1581.4389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -530.5280451960351, + -1578.4389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -530.5280451960351, + -1575.4389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -530.5280451960351, + -1572.4389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -530.5280451960351, + -1569.4389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -530.5280451960351, + -1566.4389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -530.5280451960351, + -1563.4389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -530.5280451960351, + -1560.4389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -530.5280451960351, + -1557.4389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -530.5280451960351, + -1554.4389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -530.5280451960351, + -1551.4389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -530.5280451960351, + -1548.4389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -530.5280451960351, + -1545.4389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -530.5280451960351, + -1542.4389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -530.5280451960351, + -1539.4389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -530.5280451960351, + -1536.4389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -530.5280451960351, + -1533.4389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -530.5280451960351, + -1530.4389570223866, + 32.69108292415929 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -530.5280451960351, + -1530.4389570223866, + 32.69108292415929 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -530.5280451960351, + -1530.4389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -533.1261214073884, + -1528.9389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -535.7241976187418, + -1527.4389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -538.3222738300951, + -1525.9389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -540.9203500414485, + -1524.4389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -543.5184262528019, + -1522.9389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -546.1165024641552, + -1521.4389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -548.7145786755086, + -1519.9389570223866, + 32.69108292415929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -551.312654886862, + -1518.4389570223866, + 32.69108292415929 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -560.0, + -1496.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-10-32_1597272000/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-10-32_1597272000/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f133fbdb1496c0d7a7d6cccc2c2d0ec94a9ce9ab --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-10-32_1597272000/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -385.97512019743516, + -31.490761159859062, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -384.47512019743516, + -28.892684948505746, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -382.97512019743516, + -26.29460873715243, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -381.47512019743516, + -23.696532525799114, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -379.97512019743516, + -21.098456314445798, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -378.47512019743516, + -18.500380103092482, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -376.97512019743516, + -15.902303891739166, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -375.47512019743516, + -13.30422768038585, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -373.97512019743516, + -10.706151469032534, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -372.47512019743516, + -8.108075257679218, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -370.97512019743516, + -5.509999046325902, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -369.47512019743516, + -2.911922834972586, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -367.97512019743516, + -0.31384662361926985, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -366.47512019743516, + 2.284229587734046, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -364.97512019743516, + 4.882305799087362, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -363.47512019743516, + 7.480382010440678, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -361.97512019743516, + 10.078458221793994, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -360.47512019743516, + 12.67653443314731, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -358.97512019743516, + 15.274610644500626, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -357.47512019743516, + 17.872686855853942, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -355.97512019743516, + 20.47076306720726, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -354.47512019743516, + 23.068839278560574, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -352.97512019743516, + 25.66691548991389, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -351.47512019743516, + 28.264991701267206, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -349.97512019743516, + 30.863067912620522, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -348.47512019743516, + 33.46114412397384, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -346.97512019743516, + 36.059220335327154, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -345.47512019743516, + 38.65729654668047, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -343.97512019743516, + 41.255372758033786, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -342.47512019743516, + 43.8534489693871, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -340.97512019743516, + 46.45152518074042, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -339.47512019743516, + 49.049601392093734, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -337.97512019743516, + 51.64767760344705, + 31.93473731157407 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -337.97512019743516, + 51.64767760344705, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -337.97512019743516, + 54.64767760344705, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -337.97512019743516, + 57.64767760344705, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -337.97512019743516, + 60.64767760344705, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -337.97512019743516, + 63.64767760344705, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -337.97512019743516, + 66.64767760344705, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -337.97512019743516, + 69.64767760344705, + 31.93473731157407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -337.97512019743516, + 72.64767760344705, + 31.93473731157407 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -320.0, + 116.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-18-14_1219377470/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-18-14_1219377470/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e1729fd15550ab0e123e81ab2d1e6be25e41defb --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-18-14_1219377470/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1663.428507512627, + 1339.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1663.428507512627, + 1336.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1663.428507512627, + 1333.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1663.428507512627, + 1330.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1663.428507512627, + 1327.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1663.428507512627, + 1324.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1663.428507512627, + 1321.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1663.428507512627, + 1318.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1663.428507512627, + 1315.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1663.428507512627, + 1312.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1663.428507512627, + 1309.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1663.428507512627, + 1306.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1663.428507512627, + 1303.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1663.428507512627, + 1300.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1663.428507512627, + 1297.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1663.428507512627, + 1294.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1663.428507512627, + 1291.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1663.428507512627, + 1288.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1663.428507512627, + 1285.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1663.428507512627, + 1282.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1663.428507512627, + 1279.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1663.428507512627, + 1276.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1663.428507512627, + 1273.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1663.428507512627, + 1270.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1663.428507512627, + 1267.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1663.428507512627, + 1264.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1663.428507512627, + 1261.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1663.428507512627, + 1258.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1663.428507512627, + 1255.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1663.428507512627, + 1252.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1663.428507512627, + 1249.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1663.428507512627, + 1246.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1663.428507512627, + 1243.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1663.428507512627, + 1240.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1663.428507512627, + 1237.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1663.428507512627, + 1234.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1663.428507512627, + 1231.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1663.428507512627, + 1228.5464549651729, + 36.01007779108702 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1663.428507512627, + 1228.5464549651729, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1661.928507512627, + 1225.9483787538195, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1660.428507512627, + 1223.3503025424661, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1658.928507512627, + 1220.7522263311128, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1657.428507512627, + 1218.1541501197594, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1655.928507512627, + 1215.556073908406, + 36.01007779108702 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1655.928507512627, + 1215.556073908406, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1655.928507512627, + 1212.556073908406, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1655.928507512627, + 1209.556073908406, + 36.01007779108702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1655.928507512627, + 1206.556073908406, + 36.01007779108702 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1652.0, + 1172.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-50-26_20336956/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-50-26_20336956/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..98c535a7f4daa96cc7186f3c2ce7b65fdc65ddc1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-50-26_20336956/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1680.1352006149752, + 1076.2662324209562, + 38.474609412073164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1683.1352006149752, + 1076.2662324209562, + 38.474609412073164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1686.1352006149752, + 1076.2662324209562, + 38.474609412073164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1689.1352006149752, + 1076.2662324209562, + 38.474609412073164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1692.1352006149752, + 1076.2662324209562, + 38.474609412073164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1695.1352006149752, + 1076.2662324209562, + 38.474609412073164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1698.1352006149752, + 1076.2662324209562, + 38.474609412073164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1701.1352006149752, + 1076.2662324209562, + 38.474609412073164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1704.1352006149752, + 1076.2662324209562, + 38.474609412073164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1707.1352006149752, + 1076.2662324209562, + 38.474609412073164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1710.1352006149752, + 1076.2662324209562, + 38.474609412073164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1713.1352006149752, + 1076.2662324209562, + 38.474609412073164 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1716.1352006149752, + 1076.2662324209562, + 38.474609412073164 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1716.1352006149752, + 1076.2662324209562, + 38.474609412073164 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1718.7332768263286, + 1074.7662324209562, + 38.474609412073164 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1721.331353037682, + 1073.2662324209562, + 38.474609412073164 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1723.9294292490354, + 1071.7662324209562, + 38.474609412073164 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1726.5275054603887, + 1070.2662324209562, + 38.474609412073164 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1729.125581671742, + 1068.7662324209562, + 38.474609412073164 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1731.7236578830955, + 1067.2662324209562, + 38.474609412073164 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1734.3217340944489, + 1065.7662324209562, + 38.474609412073164 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1736.9198103058022, + 1064.2662324209562, + 38.474609412073164 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1739.5178865171556, + 1062.7662324209562, + 38.474609412073164 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1742.115962728509, + 1061.2662324209562, + 38.474609412073164 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1744.7140389398623, + 1059.7662324209562, + 38.474609412073164 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1747.3121151512157, + 1058.2662324209562, + 38.474609412073164 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1840.0, + 1028.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-50-44_1335077589/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-50-44_1335077589/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5011a27e4384ccf01ac6454861b602062b40c7ab --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-50-44_1335077589/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1786.7532018969323, + 69.70136439733322, + 30.84795522756874 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1789.3512781082857, + 68.20136439733322, + 30.84795522756874 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1791.949354319639, + 66.70136439733322, + 30.84795522756874 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1794.5474305309924, + 65.20136439733322, + 30.84795522756874 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1797.1455067423458, + 63.70136439733322, + 30.84795522756874 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1799.7435829536992, + 62.20136439733322, + 30.84795522756874 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1932.0, + -12.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-59-56_428674782/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-59-56_428674782/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..70f4067ab920de0e298a419a3aeecb246f4ed383 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-59-56_428674782/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1530.2249733025676, + 429.4904302625926, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1533.2249733025676, + 429.4904302625926, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1536.2249733025676, + 429.4904302625926, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1539.2249733025676, + 429.4904302625926, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1542.2249733025676, + 429.4904302625926, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1545.2249733025676, + 429.4904302625926, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1548.2249733025676, + 429.4904302625926, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1551.2249733025676, + 429.4904302625926, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1554.2249733025676, + 429.4904302625926, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1557.2249733025676, + 429.4904302625926, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1560.2249733025676, + 429.4904302625926, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1563.2249733025676, + 429.4904302625926, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1566.2249733025676, + 429.4904302625926, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1569.2249733025676, + 429.4904302625926, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1572.2249733025676, + 429.4904302625926, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1575.2249733025676, + 429.4904302625926, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1578.2249733025676, + 429.4904302625926, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1581.2249733025676, + 429.4904302625926, + 38.98866844286674 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1581.2249733025676, + 429.4904302625926, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1583.823049513921, + 430.9904302625926, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1586.4211257252744, + 432.4904302625926, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1589.0192019366277, + 433.9904302625926, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1591.617278147981, + 435.4904302625926, + 38.98866844286674 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1591.617278147981, + 435.4904302625926, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1593.117278147981, + 438.0885064739459, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1594.617278147981, + 440.68658268529924, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1596.117278147981, + 443.28465889665256, + 38.98866844286674 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1596.117278147981, + 443.28465889665256, + 38.98866844286674 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1596.117278147981, + 443.28465889665256, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1599.117278147981, + 443.28465889665256, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1602.117278147981, + 443.28465889665256, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1605.117278147981, + 443.28465889665256, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1608.117278147981, + 443.28465889665256, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1611.117278147981, + 443.28465889665256, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1614.117278147981, + 443.28465889665256, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1617.117278147981, + 443.28465889665256, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1620.117278147981, + 443.28465889665256, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1623.117278147981, + 443.28465889665256, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1626.117278147981, + 443.28465889665256, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1629.117278147981, + 443.28465889665256, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1632.117278147981, + 443.28465889665256, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1635.117278147981, + 443.28465889665256, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1638.117278147981, + 443.28465889665256, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1641.117278147981, + 443.28465889665256, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1644.117278147981, + 443.28465889665256, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1647.117278147981, + 443.28465889665256, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1650.117278147981, + 443.28465889665256, + 38.98866844286674 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1650.117278147981, + 443.28465889665256, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1652.7153543593345, + 444.78465889665256, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1655.3134305706878, + 446.28465889665256, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1657.9115067820412, + 447.78465889665256, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1660.5095829933946, + 449.28465889665256, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1663.107659204748, + 450.78465889665256, + 38.98866844286674 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1665.7057354161013, + 452.28465889665256, + 38.98866844286674 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1704.0, + 460.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_15-44-54_1199311796/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_15-44-54_1199311796/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7e932da478babd275f30e86f2a1f2b14a5dfa561 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_15-44-54_1199311796/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 603.1400030410379, + -1044.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 603.1400030410379, + -1041.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 603.1400030410379, + -1038.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 603.1400030410379, + -1035.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 603.1400030410379, + -1032.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 603.1400030410379, + -1029.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 603.1400030410379, + -1026.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 603.1400030410379, + -1023.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 603.1400030410379, + -1020.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 603.1400030410379, + -1017.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 603.1400030410379, + -1014.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 603.1400030410379, + -1011.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 603.1400030410379, + -1008.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 603.1400030410379, + -1005.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 603.1400030410379, + -1002.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 603.1400030410379, + -999.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 603.1400030410379, + -996.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 603.1400030410379, + -993.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 603.1400030410379, + -990.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 603.1400030410379, + -987.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 603.1400030410379, + -984.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 603.1400030410379, + -981.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 603.1400030410379, + -978.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 603.1400030410379, + -975.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 603.1400030410379, + -972.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 603.1400030410379, + -969.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 603.1400030410379, + -966.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 603.1400030410379, + -963.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 603.1400030410379, + -960.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 603.1400030410379, + -957.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 603.1400030410379, + -954.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 603.1400030410379, + -951.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 603.1400030410379, + -948.6268673877842, + 30.88581011454113 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 603.1400030410379, + -948.6268673877842, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 601.6400030410379, + -946.0287911764308, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 600.1400030410379, + -943.4307149650774, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 598.6400030410379, + -940.832638753724, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 597.1400030410379, + -938.2345625423707, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 595.6400030410379, + -935.6364863310173, + 30.88581011454113 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 594.1400030410379, + -933.0384101196639, + 30.88581011454113 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 592.0, + -880.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_15-55-26_346804712/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_15-55-26_346804712/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8a097c77dd3f2908f3f5a6e5ad6b57ec5f1288dc --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_15-55-26_346804712/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1735.8643522946015, + -396.2145819847667, + 35.309621812608626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1738.462428505955, + -397.7145819847667, + 35.309621812608626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1741.0605047173083, + -399.2145819847667, + 35.309621812608626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1743.6585809286616, + -400.7145819847667, + 35.309621812608626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1746.256657140015, + -402.2145819847667, + 35.309621812608626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1748.8547333513684, + -403.7145819847667, + 35.309621812608626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1751.4528095627218, + -405.2145819847667, + 35.309621812608626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1754.0508857740751, + -406.7145819847667, + 35.309621812608626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1756.6489619854285, + -408.2145819847667, + 35.309621812608626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1759.247038196782, + -409.7145819847667, + 35.309621812608626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1761.8451144081353, + -411.2145819847667, + 35.309621812608626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1764.4431906194886, + -412.7145819847667, + 35.309621812608626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1767.041266830842, + -414.2145819847667, + 35.309621812608626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1769.6393430421954, + -415.7145819847667, + 35.309621812608626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1772.2374192535488, + -417.2145819847667, + 35.309621812608626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1774.8354954649021, + -418.7145819847667, + 35.309621812608626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1777.4335716762555, + -420.2145819847667, + 35.309621812608626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1780.0316478876089, + -421.7145819847667, + 35.309621812608626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1782.6297240989622, + -423.2145819847667, + 35.309621812608626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1785.2278003103156, + -424.7145819847667, + 35.309621812608626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1787.825876521669, + -426.2145819847667, + 35.309621812608626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1790.4239527330224, + -427.7145819847667, + 35.309621812608626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1793.0220289443757, + -429.2145819847667, + 35.309621812608626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1795.620105155729, + -430.7145819847667, + 35.309621812608626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1798.2181813670825, + -432.2145819847667, + 35.309621812608626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1800.8162575784359, + -433.7145819847667, + 35.309621812608626 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1884.0, + -480.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-11-38_910450857/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-11-38_910450857/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fd91a6083feb02897de8534f14847ba1f38ab788 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-11-38_910450857/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1755.4926791020841, + 1776.7304247206773, + 31.287361473078068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1758.4926791020841, + 1776.7304247206773, + 31.287361473078068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1761.4926791020841, + 1776.7304247206773, + 31.287361473078068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1764.4926791020841, + 1776.7304247206773, + 31.287361473078068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1767.4926791020841, + 1776.7304247206773, + 31.287361473078068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1770.4926791020841, + 1776.7304247206773, + 31.287361473078068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1773.4926791020841, + 1776.7304247206773, + 31.287361473078068 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1773.4926791020841, + 1776.7304247206773, + 31.287361473078068 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1773.4926791020841, + 1776.7304247206773, + 31.287361473078068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1774.9926791020841, + 1779.3285009320307, + 31.287361473078068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1776.4926791020841, + 1781.926577143384, + 31.287361473078068 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1920.0, + 1828.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-17-7_980690626/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-17-7_980690626/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1de2ceefa2c8ed1ebe9b3540925cbd40e225b486 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-17-7_980690626/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1260.0939019888422, + 1261.4688049871945, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1258.5939019888422, + 1264.066881198548, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1257.0939019888422, + 1266.6649574099013, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1255.5939019888422, + 1269.2630336212546, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1254.0939019888422, + 1271.861109832608, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1252.5939019888422, + 1274.4591860439614, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1251.0939019888422, + 1277.0572622553148, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1249.5939019888422, + 1279.6553384666681, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1248.0939019888422, + 1282.2534146780215, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1246.5939019888422, + 1284.8514908893749, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1245.0939019888422, + 1287.4495671007282, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1243.5939019888422, + 1290.0476433120816, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1242.0939019888422, + 1292.645719523435, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1240.5939019888422, + 1295.2437957347884, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1239.0939019888422, + 1297.8418719461417, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1237.5939019888422, + 1300.439948157495, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1236.0939019888422, + 1303.0380243688485, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1234.5939019888422, + 1305.6361005802019, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1233.0939019888422, + 1308.2341767915552, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1231.5939019888422, + 1310.8322530029086, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1230.0939019888422, + 1313.430329214262, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1228.5939019888422, + 1316.0284054256153, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1227.0939019888422, + 1318.6264816369687, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1225.5939019888422, + 1321.224557848322, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1224.0939019888422, + 1323.8226340596755, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1222.5939019888422, + 1326.4207102710288, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1221.0939019888422, + 1329.0187864823822, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1219.5939019888422, + 1331.6168626937356, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1218.0939019888422, + 1334.214938905089, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1216.5939019888422, + 1336.8130151164423, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1215.0939019888422, + 1339.4110913277957, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1213.5939019888422, + 1342.009167539149, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1212.0939019888422, + 1344.6072437505024, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1210.5939019888422, + 1347.2053199618558, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1209.0939019888422, + 1349.8033961732092, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1207.5939019888422, + 1352.4014723845626, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1206.0939019888422, + 1354.999548595916, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1204.5939019888422, + 1357.5976248072693, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1203.0939019888422, + 1360.1957010186227, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1201.5939019888422, + 1362.793777229976, + 39.585841185635445 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1201.5939019888422, + 1362.793777229976, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1198.9958257774888, + 1364.293777229976, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1196.3977495661354, + 1365.793777229976, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1193.799673354782, + 1367.293777229976, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1191.2015971434287, + 1368.793777229976, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1188.6035209320753, + 1370.293777229976, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1186.005444720722, + 1371.793777229976, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1183.4073685093686, + 1373.293777229976, + 39.585841185635445 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1180.8092922980152, + 1374.793777229976, + 39.585841185635445 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1164.0, + 1396.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-28-57_981512505/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-28-57_981512505/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..362a4a26d0553b2c8ca1acacfc712aafb7efb7d1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-28-57_981512505/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 35.374903570653004, + -49.17858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 32.77682735929969, + -50.67858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 30.17875114794637, + -52.17858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 27.580674936593056, + -53.67858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 24.98259872523974, + -55.17858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 22.384522513886424, + -56.67858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 19.786446302533108, + -58.17858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 17.18837009117979, + -59.67858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 14.590293879826476, + -61.17858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 11.99221766847316, + -62.67858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 9.394141457119844, + -64.17858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 6.796065245766528, + -65.67858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4.197989034413212, + -67.17858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1.5999128230598956, + -68.67858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -0.9981633882934204, + -70.17858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -3.5962395996467365, + -71.67858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -6.1943158110000525, + -73.17858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -8.792392022353368, + -74.67858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -11.390468233706684, + -76.17858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -13.98854444506, + -77.67858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -16.586620656413317, + -79.17858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -19.184696867766633, + -80.67858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -21.78277307911995, + -82.17858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -24.380849290473265, + -83.67858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -26.97892550182658, + -85.17858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -29.577001713179897, + -86.67858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -32.17507792453321, + -88.17858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -34.77315413588653, + -89.67858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -37.371230347239845, + -91.17858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -39.96930655859316, + -92.67858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -42.56738276994648, + -94.17858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -45.16545898129979, + -95.67858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -47.76353519265311, + -97.17858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -50.361611404006425, + -98.67858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -52.95968761535974, + -100.17858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -55.55776382671306, + -101.67858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -58.15584003806637, + -103.17858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -60.75391624941969, + -104.67858670262545, + 32.43192480698752 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -60.75391624941969, + -104.67858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -63.75391624941969, + -104.67858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -66.75391624941969, + -104.67858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -69.75391624941969, + -104.67858670262545, + 32.43192480698752 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -69.75391624941969, + -104.67858670262545, + 32.43192480698752 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -69.75391624941969, + -104.67858670262545, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -71.25391624941969, + -107.27666291397877, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -72.75391624941969, + -109.87473912533208, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -74.25391624941969, + -112.4728153366854, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -75.75391624941969, + -115.07089154803872, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -77.25391624941969, + -117.66896775939203, + 32.43192480698752 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -77.25391624941969, + -117.66896775939203, + 32.43192480698752 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -77.25391624941969, + -117.66896775939203, + 32.43192480698752 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -80.25391624941969, + -117.66896775939203, + 32.43192480698752 + ], + "type": "stop", + "value": 0, + "yaw": -3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -100.0, + -128.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-39-47_217985588/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-39-47_217985588/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f8baa0826eb74a3a11621a9476a91a1a352e5e0c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-39-47_217985588/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1056.5421902594856, + -467.47916160223207, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1058.0421902594856, + -464.88108539087875, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1059.5421902594856, + -462.28300917952544, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1061.0421902594856, + -459.6849329681721, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1062.5421902594856, + -457.0868567568188, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1064.0421902594856, + -454.4887805454655, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1065.5421902594856, + -451.8907043341122, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1067.0421902594856, + -449.29262812275886, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1068.5421902594856, + -446.69455191140554, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1070.0421902594856, + -444.0964757000522, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1071.5421902594856, + -441.4983994886989, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1073.0421902594856, + -438.9003232773456, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1074.5421902594856, + -436.3022470659923, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1076.0421902594856, + -433.70417085463896, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1077.5421902594856, + -431.10609464328564, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1079.0421902594856, + -428.5080184319323, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1080.5421902594856, + -425.909942220579, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1082.0421902594856, + -423.3118660092257, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1083.5421902594856, + -420.7137897978724, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1085.0421902594856, + -418.11571358651906, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1086.5421902594856, + -415.51763737516575, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1088.0421902594856, + -412.91956116381243, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1089.5421902594856, + -410.3214849524591, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1091.0421902594856, + -407.7234087411058, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1092.5421902594856, + -405.1253325297525, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1094.0421902594856, + -402.52725631839917, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1095.5421902594856, + -399.92918010704585, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1097.0421902594856, + -397.33110389569254, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1098.5421902594856, + -394.7330276843392, + 39.3445817595416 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1098.5421902594856, + -394.7330276843392, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1101.140266470839, + -393.2330276843392, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1103.7383426821923, + -391.7330276843392, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1106.3364188935457, + -390.2330276843392, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1108.934495104899, + -388.7330276843392, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1111.5325713162524, + -387.2330276843392, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1114.1306475276058, + -385.7330276843392, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1116.7287237389592, + -384.2330276843392, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1119.3267999503125, + -382.7330276843392, + 39.3445817595416 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1119.3267999503125, + -382.7330276843392, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1120.8267999503125, + -380.1349514729859, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1122.3267999503125, + -377.5368752616326, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1123.8267999503125, + -374.9387990502793, + 39.3445817595416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1125.3267999503125, + -372.34072283892596, + 39.3445817595416 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1148.0, + -340.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_17-14-27_429857344/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_17-14-27_429857344/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8745385da1d730c6e16b883bb11e764528eeb144 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_17-14-27_429857344/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1497.7651834916112, + -1084.849773114553, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1497.7651834916112, + -1081.849773114553, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1497.7651834916112, + -1078.849773114553, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1497.7651834916112, + -1075.849773114553, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1497.7651834916112, + -1072.849773114553, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1497.7651834916112, + -1069.849773114553, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1497.7651834916112, + -1066.849773114553, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1497.7651834916112, + -1063.849773114553, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1497.7651834916112, + -1060.849773114553, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1497.7651834916112, + -1057.849773114553, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1497.7651834916112, + -1054.849773114553, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1497.7651834916112, + -1051.849773114553, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1497.7651834916112, + -1048.849773114553, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1497.7651834916112, + -1045.849773114553, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1497.7651834916112, + -1042.849773114553, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1497.7651834916112, + -1039.849773114553, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1497.7651834916112, + -1036.849773114553, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1497.7651834916112, + -1033.849773114553, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1497.7651834916112, + -1030.849773114553, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1497.7651834916112, + -1027.849773114553, + 32.440851535352365 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1497.7651834916112, + -1027.849773114553, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1499.2651834916112, + -1025.2516969031997, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1500.7651834916112, + -1022.6536206918463, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1502.2651834916112, + -1020.0555444804929, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1503.7651834916112, + -1017.4574682691396, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1505.2651834916112, + -1014.8593920577862, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1506.7651834916112, + -1012.2613158464328, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1508.2651834916112, + -1009.6632396350794, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1509.7651834916112, + -1007.0651634237261, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1511.2651834916112, + -1004.4670872123727, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1512.7651834916112, + -1001.8690110010193, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1514.2651834916112, + -999.270934789666, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1515.7651834916112, + -996.6728585783126, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1517.2651834916112, + -994.0747823669592, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1518.7651834916112, + -991.4767061556058, + 32.440851535352365 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1518.7651834916112, + -991.4767061556058, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1518.7651834916112, + -988.4767061556058, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1518.7651834916112, + -985.4767061556058, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1518.7651834916112, + -982.4767061556058, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1518.7651834916112, + -979.4767061556058, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1518.7651834916112, + -976.4767061556058, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1518.7651834916112, + -973.4767061556058, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1518.7651834916112, + -970.4767061556058, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1518.7651834916112, + -967.4767061556058, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1518.7651834916112, + -964.4767061556058, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1518.7651834916112, + -961.4767061556058, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1518.7651834916112, + -958.4767061556058, + 32.440851535352365 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1518.7651834916112, + -955.4767061556058, + 32.440851535352365 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1524.0, + -932.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_17-7-4_96198530/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_17-7-4_96198530/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15117201596022a7bb163499345b496066943f14 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_17-7-4_96198530/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1326.8231505598537, + 1135.1455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1329.421226771207, + 1133.6455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1332.0193029825605, + 1132.1455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1334.6173791939138, + 1130.6455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1337.2154554052672, + 1129.1455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1339.8135316166206, + 1127.6455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1342.411607827974, + 1126.1455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1345.0096840393273, + 1124.6455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1347.6077602506807, + 1123.1455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1350.205836462034, + 1121.6455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1352.8039126733875, + 1120.1455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1355.4019888847408, + 1118.6455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1358.0000650960942, + 1117.1455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1360.5981413074476, + 1115.6455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1363.196217518801, + 1114.1455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1365.7942937301543, + 1112.6455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1368.3923699415077, + 1111.1455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1370.990446152861, + 1109.6455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1373.5885223642144, + 1108.1455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1376.1865985755678, + 1106.6455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1378.7846747869212, + 1105.1455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1381.3827509982746, + 1103.6455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1383.980827209628, + 1102.1455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1386.5789034209813, + 1100.6455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1389.1769796323347, + 1099.1455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1391.775055843688, + 1097.6455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1394.3731320550414, + 1096.1455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1396.9712082663948, + 1094.6455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1399.5692844777482, + 1093.1455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1402.1673606891015, + 1091.6455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1404.765436900455, + 1090.1455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1407.3635131118083, + 1088.6455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1409.9615893231617, + 1087.1455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1412.559665534515, + 1085.6455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1415.1577417458684, + 1084.1455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1417.7558179572218, + 1082.6455282059162, + 34.896689178659074 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1417.7558179572218, + 1082.6455282059162, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1419.2558179572218, + 1080.0474519945628, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1420.7558179572218, + 1077.4493757832095, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1422.2558179572218, + 1074.851299571856, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1423.7558179572218, + 1072.2532233605027, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1425.2558179572218, + 1069.6551471491493, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1426.7558179572218, + 1067.057070937796, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1428.2558179572218, + 1064.4589947264426, + 34.896689178659074 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1429.7558179572218, + 1061.8609185150892, + 34.896689178659074 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1464.0, + 1036.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-52-23_61535680/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-52-23_61535680/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..479001ea4d0335d90421e0e8f1c492fc23e98821 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-52-23_61535680/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 467.4176872635885, + -409.35238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 464.8196110522352, + -410.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 462.2215348408819, + -412.35238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 459.62345862952856, + -413.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 457.02538241817524, + -415.35238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 454.4273062068219, + -416.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 451.8292299954686, + -418.35238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 449.2311537841153, + -419.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 446.633077572762, + -421.35238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 444.03500136140866, + -422.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 441.43692515005534, + -424.35238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 438.83884893870203, + -425.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 436.2407727273487, + -427.35238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 433.6426965159954, + -428.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 431.0446203046421, + -430.35238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 428.44654409328876, + -431.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 425.84846788193545, + -433.35238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 423.25039167058213, + -434.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 420.6523154592288, + -436.35238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 418.0542392478755, + -437.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 415.4561630365222, + -439.35238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 412.85808682516887, + -440.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 410.26001061381555, + -442.35238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 407.66193440246224, + -443.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 405.0638581911089, + -445.35238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 402.4657819797556, + -446.85238018017066, + 39.549122222437376 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 402.4657819797556, + -446.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 399.4657819797556, + -446.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 396.4657819797556, + -446.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 393.4657819797556, + -446.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 390.4657819797556, + -446.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 387.4657819797556, + -446.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 384.4657819797556, + -446.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 381.4657819797556, + -446.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 378.4657819797556, + -446.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 375.4657819797556, + -446.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 372.4657819797556, + -446.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 369.4657819797556, + -446.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 366.4657819797556, + -446.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 363.4657819797556, + -446.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 360.4657819797556, + -446.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 357.4657819797556, + -446.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 354.4657819797556, + -446.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 351.4657819797556, + -446.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 348.4657819797556, + -446.85238018017066, + 39.549122222437376 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 348.4657819797556, + -446.85238018017066, + 39.549122222437376 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 348.4657819797556, + -446.85238018017066, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 346.9657819797556, + -449.45045639152397, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 345.4657819797556, + -452.0485326028773, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 343.9657819797556, + -454.6466088142306, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 342.4657819797556, + -457.2446850255839, + 39.549122222437376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 340.9657819797556, + -459.84276123693724, + 39.549122222437376 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 316.0, + -468.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-6-36_1016499950/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-6-36_1016499950/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be54625b97bd77af77a35690a2aacef4cffed8bf --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-6-36_1016499950/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1479.7733981023582, + -755.9793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1476.7733981023582, + -755.9793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1473.7733981023582, + -755.9793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1470.7733981023582, + -755.9793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1467.7733981023582, + -755.9793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1464.7733981023582, + -755.9793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1461.7733981023582, + -755.9793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1458.7733981023582, + -755.9793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1455.7733981023582, + -755.9793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1452.7733981023582, + -755.9793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1449.7733981023582, + -755.9793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1446.7733981023582, + -755.9793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1443.7733981023582, + -755.9793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1440.7733981023582, + -755.9793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1437.7733981023582, + -755.9793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1434.7733981023582, + -755.9793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1431.7733981023582, + -755.9793730113809, + 30.163123855440453 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1431.7733981023582, + -755.9793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1429.1753218910048, + -754.4793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1426.5772456796515, + -752.9793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1423.979169468298, + -751.4793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1421.3810932569447, + -749.9793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1418.7830170455914, + -748.4793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1416.184940834238, + -746.9793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1413.5868646228846, + -745.4793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1410.9887884115312, + -743.9793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1408.3907122001779, + -742.4793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1405.7926359888245, + -740.9793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1403.194559777471, + -739.4793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1400.5964835661177, + -737.9793730113809, + 30.163123855440453 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1400.5964835661177, + -737.9793730113809, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1399.0964835661177, + -735.3812968000275, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1397.5964835661177, + -732.7832205886741, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1396.0964835661177, + -730.1851443773207, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1394.5964835661177, + -727.5870681659674, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1393.0964835661177, + -724.988991954614, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1391.5964835661177, + -722.3909157432606, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1390.0964835661177, + -719.7928395319072, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1388.5964835661177, + -717.1947633205539, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1387.0964835661177, + -714.5966871092005, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1385.5964835661177, + -711.9986108978471, + 30.163123855440453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1384.0964835661177, + -709.4005346864938, + 30.163123855440453 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1344.0, + -688.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-17-23_606765135/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-17-23_606765135/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1fe8ca12d04c4e0e79ee765e959e41d1e950bad4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-17-23_606765135/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -299.7143842881201, + -40.29133528531352, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -299.7143842881201, + -37.29133528531352, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -299.7143842881201, + -34.29133528531352, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -299.7143842881201, + -31.291335285313522, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -299.7143842881201, + -28.291335285313522, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -299.7143842881201, + -25.291335285313522, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -299.7143842881201, + -22.291335285313522, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -299.7143842881201, + -19.291335285313522, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -299.7143842881201, + -16.291335285313522, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -299.7143842881201, + -13.291335285313522, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -299.7143842881201, + -10.291335285313522, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -299.7143842881201, + -7.291335285313522, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -299.7143842881201, + -4.291335285313522, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -299.7143842881201, + -1.2913352853135223, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -299.7143842881201, + 1.7086647146864777, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -299.7143842881201, + 4.708664714686478, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -299.7143842881201, + 7.708664714686478, + 38.8678520213803 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -299.7143842881201, + 7.708664714686478, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -301.2143842881201, + 10.306740926039794, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -302.7143842881201, + 12.90481713739311, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -304.2143842881201, + 15.502893348746426, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -305.7143842881201, + 18.100969560099742, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -307.2143842881201, + 20.699045771453058, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -308.7143842881201, + 23.297121982806374, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -310.2143842881201, + 25.89519819415969, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -311.7143842881201, + 28.493274405513006, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -313.2143842881201, + 31.091350616866322, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -314.7143842881201, + 33.68942682821964, + 38.8678520213803 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -314.7143842881201, + 33.68942682821964, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -314.7143842881201, + 36.68942682821964, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -314.7143842881201, + 39.68942682821964, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -314.7143842881201, + 42.68942682821964, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -314.7143842881201, + 45.68942682821964, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -314.7143842881201, + 48.68942682821964, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -314.7143842881201, + 51.68942682821964, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -314.7143842881201, + 54.68942682821964, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -314.7143842881201, + 57.68942682821964, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -314.7143842881201, + 60.68942682821964, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -314.7143842881201, + 63.68942682821964, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -314.7143842881201, + 66.68942682821964, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -314.7143842881201, + 69.68942682821964, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -314.7143842881201, + 72.68942682821964, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -314.7143842881201, + 75.68942682821964, + 38.8678520213803 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -314.7143842881201, + 78.68942682821964, + 38.8678520213803 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -320.0, + 116.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-29-13_265632904/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-29-13_265632904/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4168c6b8eb5387046a7ea7d8313c9a966185ab22 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-29-13_265632904/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1514.8520553662534, + -961.6776967782744, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1514.8520553662534, + -964.6776967782744, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1514.8520553662534, + -967.6776967782744, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1514.8520553662534, + -970.6776967782744, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1514.8520553662534, + -973.6776967782744, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1514.8520553662534, + -976.6776967782744, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1514.8520553662534, + -979.6776967782744, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1514.8520553662534, + -982.6776967782744, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1514.8520553662534, + -985.6776967782744, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1514.8520553662534, + -988.6776967782744, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1514.8520553662534, + -991.6776967782744, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1514.8520553662534, + -994.6776967782744, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1514.8520553662534, + -997.6776967782744, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1514.8520553662534, + -1000.6776967782744, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1514.8520553662534, + -1003.6776967782744, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1514.8520553662534, + -1006.6776967782744, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1514.8520553662534, + -1009.6776967782744, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1514.8520553662534, + -1012.6776967782744, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1514.8520553662534, + -1015.6776967782744, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1514.8520553662534, + -1018.6776967782744, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1514.8520553662534, + -1021.6776967782744, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1514.8520553662534, + -1024.6776967782744, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1514.8520553662534, + -1027.6776967782744, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1514.8520553662534, + -1030.6776967782744, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1514.8520553662534, + -1033.6776967782744, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1514.8520553662534, + -1036.6776967782744, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1514.8520553662534, + -1039.6776967782744, + 39.58330284068154 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1514.8520553662534, + -1039.6776967782744, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1513.3520553662534, + -1042.2757729896277, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1511.8520553662534, + -1044.873849200981, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1510.3520553662534, + -1047.4719254123345, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1508.8520553662534, + -1050.0700016236879, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1507.3520553662534, + -1052.6680778350412, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1505.8520553662534, + -1055.2661540463946, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1504.3520553662534, + -1057.864230257748, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1502.8520553662534, + -1060.4623064691013, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1501.3520553662534, + -1063.0603826804547, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1499.8520553662534, + -1065.658458891808, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1498.3520553662534, + -1068.2565351031615, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1496.8520553662534, + -1070.8546113145148, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1495.3520553662534, + -1073.4526875258682, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1493.8520553662534, + -1076.0507637372216, + 39.58330284068154 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1492.3520553662534, + -1078.648839948575, + 39.58330284068154 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1484.0, + -1128.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-30-17_1861853489/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-30-17_1861853489/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ba5676d010ba05c5622bdece9103f410fea29cb --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-30-17_1861853489/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1240.1640100457744, + 676.1591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1243.1640100457744, + 676.1591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1246.1640100457744, + 676.1591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1249.1640100457744, + 676.1591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1252.1640100457744, + 676.1591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1255.1640100457744, + 676.1591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1258.1640100457744, + 676.1591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1261.1640100457744, + 676.1591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1264.1640100457744, + 676.1591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1267.1640100457744, + 676.1591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1270.1640100457744, + 676.1591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1273.1640100457744, + 676.1591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1276.1640100457744, + 676.1591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1279.1640100457744, + 676.1591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1282.1640100457744, + 676.1591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1285.1640100457744, + 676.1591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1288.1640100457744, + 676.1591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1291.1640100457744, + 676.1591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1294.1640100457744, + 676.1591409738493, + 30.969802624912596 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1294.1640100457744, + 676.1591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1296.7620862571277, + 674.6591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1299.3601624684811, + 673.1591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1301.9582386798345, + 671.6591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1304.5563148911879, + 670.1591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1307.1543911025412, + 668.6591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1309.7524673138946, + 667.1591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1312.350543525248, + 665.6591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1314.9486197366014, + 664.1591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1317.5466959479547, + 662.6591409738493, + 30.969802624912596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1320.144772159308, + 661.1591409738493, + 30.969802624912596 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1416.0, + 640.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-32-31_431787582/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-32-31_431787582/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0aae66e588557e606e4d896e52b3b95be9e1102e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-32-31_431787582/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1767.7808950768417, + -54.01526291129167, + 37.92945554616506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1769.2808950768417, + -56.61333912264499, + 37.92945554616506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1770.7808950768417, + -59.2114153339983, + 37.92945554616506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1772.2808950768417, + -61.80949154535162, + 37.92945554616506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1773.7808950768417, + -64.40756775670494, + 37.92945554616506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1775.2808950768417, + -67.00564396805825, + 37.92945554616506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1776.7808950768417, + -69.60372017941157, + 37.92945554616506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1778.2808950768417, + -72.20179639076488, + 37.92945554616506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1779.7808950768417, + -74.7998726021182, + 37.92945554616506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1781.2808950768417, + -77.39794881347152, + 37.92945554616506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1782.7808950768417, + -79.99602502482483, + 37.92945554616506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1784.2808950768417, + -82.59410123617815, + 37.92945554616506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1785.7808950768417, + -85.19217744753146, + 37.92945554616506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1787.2808950768417, + -87.79025365888478, + 37.92945554616506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1788.7808950768417, + -90.3883298702381, + 37.92945554616506 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1788.7808950768417, + -90.3883298702381, + 37.92945554616506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1791.378971288195, + -91.8883298702381, + 37.92945554616506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1793.9770474995485, + -93.3883298702381, + 37.92945554616506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1796.5751237109018, + -94.8883298702381, + 37.92945554616506 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1872.0, + -188.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-34-59_1920703868/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-34-59_1920703868/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2116c5b6c7344b76562f6fdbd59573bfdccaf07b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-34-59_1920703868/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 172.21314018825834, + 1773.4760274199286, + 39.671410027886566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 173.71314018825834, + 1776.074103631282, + 39.671410027886566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 175.21314018825834, + 1778.6721798426354, + 39.671410027886566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 176.71314018825834, + 1781.2702560539888, + 39.671410027886566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 178.21314018825834, + 1783.8683322653421, + 39.671410027886566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 179.71314018825834, + 1786.4664084766955, + 39.671410027886566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 181.21314018825834, + 1789.0644846880489, + 39.671410027886566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 182.71314018825834, + 1791.6625608994023, + 39.671410027886566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 184.21314018825834, + 1794.2606371107556, + 39.671410027886566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 185.71314018825834, + 1796.858713322109, + 39.671410027886566 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 185.71314018825834, + 1796.858713322109, + 39.671410027886566 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 185.71314018825834, + 1796.858713322109, + 39.671410027886566 + ], + "type": "go straight", + "value": 3, + "yaw": 9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 188.71314018825834, + 1796.858713322109, + 39.671410027886566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 191.71314018825834, + 1796.858713322109, + 39.671410027886566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 194.71314018825834, + 1796.858713322109, + 39.671410027886566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 197.71314018825834, + 1796.858713322109, + 39.671410027886566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 200.71314018825834, + 1796.858713322109, + 39.671410027886566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 203.71314018825834, + 1796.858713322109, + 39.671410027886566 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 203.71314018825834, + 1796.858713322109, + 39.671410027886566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 206.31121639961165, + 1798.358713322109, + 39.671410027886566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 208.90929261096497, + 1799.858713322109, + 39.671410027886566 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 208.90929261096497, + 1799.858713322109, + 39.671410027886566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 211.90929261096497, + 1799.858713322109, + 39.671410027886566 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 304.0, + 1856.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-35-16_466747319/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-35-16_466747319/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..031a720050ce717c5404ae51ba59ec4dbb4dd87c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-35-16_466747319/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1650.0810805743038, + -460.14442931861976, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1650.0810805743038, + -463.14442931861976, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1650.0810805743038, + -466.14442931861976, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1650.0810805743038, + -469.14442931861976, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1650.0810805743038, + -472.14442931861976, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1650.0810805743038, + -475.14442931861976, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1650.0810805743038, + -478.14442931861976, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1650.0810805743038, + -481.14442931861976, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1650.0810805743038, + -484.14442931861976, + 37.52179772577769 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1650.0810805743038, + -484.14442931861976, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1651.5810805743038, + -486.7425055299731, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1653.0810805743038, + -489.3405817413264, + 37.52179772577769 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1653.0810805743038, + -489.3405817413264, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1653.0810805743038, + -492.3405817413264, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1653.0810805743038, + -495.3405817413264, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1653.0810805743038, + -498.3405817413264, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1653.0810805743038, + -501.3405817413264, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1653.0810805743038, + -504.3405817413264, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1653.0810805743038, + -507.3405817413264, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1653.0810805743038, + -510.3405817413264, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1653.0810805743038, + -513.3405817413263, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1653.0810805743038, + -516.3405817413263, + 37.52179772577769 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1653.0810805743038, + -516.3405817413263, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1651.5810805743038, + -518.9386579526797, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1650.0810805743038, + -521.5367341640331, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1648.5810805743038, + -524.1348103753865, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1647.0810805743038, + -526.7328865867398, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1645.5810805743038, + -529.3309627980932, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1644.0810805743038, + -531.9290390094466, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1642.5810805743038, + -534.5271152207999, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1641.0810805743038, + -537.1251914321533, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1639.5810805743038, + -539.7232676435067, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1638.0810805743038, + -542.3213438548601, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1636.5810805743038, + -544.9194200662134, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1635.0810805743038, + -547.5174962775668, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1633.5810805743038, + -550.1155724889202, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1632.0810805743038, + -552.7136487002736, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1630.5810805743038, + -555.3117249116269, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1629.0810805743038, + -557.9098011229803, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1627.5810805743038, + -560.5078773343337, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1626.0810805743038, + -563.105953545687, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1624.5810805743038, + -565.7040297570404, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1623.0810805743038, + -568.3021059683938, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1621.5810805743038, + -570.9001821797472, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1620.0810805743038, + -573.4982583911005, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1618.5810805743038, + -576.0963346024539, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1617.0810805743038, + -578.6944108138073, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1615.5810805743038, + -581.2924870251607, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1614.0810805743038, + -583.890563236514, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1612.5810805743038, + -586.4886394478674, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1611.0810805743038, + -589.0867156592208, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1609.5810805743038, + -591.6847918705741, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1608.0810805743038, + -594.2828680819275, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1606.5810805743038, + -596.8809442932809, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1605.0810805743038, + -599.4790205046343, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1603.5810805743038, + -602.0770967159876, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1602.0810805743038, + -604.675172927341, + 37.52179772577769 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -1602.0810805743038, + -604.675172927341, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -1602.0810805743038, + -607.675172927341, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -1602.0810805743038, + -610.675172927341, + 37.52179772577769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -1602.0810805743038, + -613.675172927341, + 37.52179772577769 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1596.0, + -628.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-36-30_604303818/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-36-30_604303818/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b26ab0615741dd75a14be85f034cea8368e88c09 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-36-30_604303818/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 618.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 621.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 624.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 627.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 630.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 633.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 636.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 639.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 642.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 645.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 648.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 651.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 654.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 657.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 660.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 663.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 666.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 669.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 672.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 675.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 678.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 681.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 684.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 687.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 690.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 693.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 696.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 699.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 702.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 705.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 705.2009313851221, + -203.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 707.7990075964753, + -202.02888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 710.3970838078287, + -200.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 712.9951600191821, + -199.02888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 715.5932362305355, + -197.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 718.1913124418888, + -196.02888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 720.7893886532422, + -194.52888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 723.3874648645956, + -193.02888404194113, + 35.733801766438134 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 723.3874648645956, + -193.02888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 726.3874648645956, + -193.02888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 729.3874648645956, + -193.02888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 732.3874648645956, + -193.02888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 735.3874648645956, + -193.02888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 738.3874648645956, + -193.02888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 741.3874648645956, + -193.02888404194113, + 35.733801766438134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 744.3874648645956, + -193.02888404194113, + 35.733801766438134 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 788.0, + -188.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-38-17_847915875/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-38-17_847915875/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..328fbf9c443d88afb87b2c5bf2ff9b578822a496 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-38-17_847915875/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 696.7423358845168, + 1732.0550791916721, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 694.1442596731636, + 1733.5550791916721, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 691.5461834618102, + 1735.0550791916721, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 688.9481072504568, + 1736.5550791916721, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 686.3500310391034, + 1738.0550791916721, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 683.7519548277501, + 1739.5550791916721, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 681.1538786163967, + 1741.0550791916721, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 678.5558024050433, + 1742.5550791916721, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 675.95772619369, + 1744.0550791916721, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 673.3596499823366, + 1745.5550791916721, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 670.7615737709832, + 1747.0550791916721, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 668.1634975596298, + 1748.5550791916721, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 665.5654213482765, + 1750.0550791916721, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 662.9673451369231, + 1751.5550791916721, + 32.389270404521724 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 662.9673451369231, + 1751.5550791916721, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 661.4673451369231, + 1754.1531554030255, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 659.9673451369231, + 1756.7512316143789, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 658.4673451369231, + 1759.3493078257322, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 656.9673451369231, + 1761.9473840370856, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 655.4673451369231, + 1764.545460248439, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 653.9673451369231, + 1767.1435364597924, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 652.4673451369231, + 1769.7416126711457, + 32.389270404521724 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 652.4673451369231, + 1769.7416126711457, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 649.8692689255697, + 1771.2416126711457, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 647.2711927142163, + 1772.7416126711457, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 644.673116502863, + 1774.2416126711457, + 32.389270404521724 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 644.673116502863, + 1774.2416126711457, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 643.173116502863, + 1776.839688882499, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 641.673116502863, + 1779.4377650938525, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 640.173116502863, + 1782.0358413052058, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 638.673116502863, + 1784.6339175165592, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 637.173116502863, + 1787.2319937279126, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 635.673116502863, + 1789.830069939266, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 634.173116502863, + 1792.4281461506193, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 632.673116502863, + 1795.0262223619727, + 32.389270404521724 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 631.173116502863, + 1797.624298573326, + 32.389270404521724 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 588.0, + 1844.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-38-3_1426608253/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-38-3_1426608253/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5b6052f5ab67bf85fe28f2d15487fb3500296dbf --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-38-3_1426608253/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 376.3233020392778, + -1171.6407390367926, + 38.20706650313372 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 379.3233020392778, + -1171.6407390367926, + 38.20706650313372 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 382.3233020392778, + -1171.6407390367926, + 38.20706650313372 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 385.3233020392778, + -1171.6407390367926, + 38.20706650313372 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 388.3233020392778, + -1171.6407390367926, + 38.20706650313372 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 391.3233020392778, + -1171.6407390367926, + 38.20706650313372 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 394.3233020392778, + -1171.6407390367926, + 38.20706650313372 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 397.3233020392778, + -1171.6407390367926, + 38.20706650313372 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 400.3233020392778, + -1171.6407390367926, + 38.20706650313372 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 403.3233020392778, + -1171.6407390367926, + 38.20706650313372 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 406.3233020392778, + -1171.6407390367926, + 38.20706650313372 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 409.3233020392778, + -1171.6407390367926, + 38.20706650313372 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 412.3233020392778, + -1171.6407390367926, + 38.20706650313372 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 415.3233020392778, + -1171.6407390367926, + 38.20706650313372 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 418.3233020392778, + -1171.6407390367926, + 38.20706650313372 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 421.3233020392778, + -1171.6407390367926, + 38.20706650313372 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 424.3233020392778, + -1171.6407390367926, + 38.20706650313372 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 532.0, + -1168.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-45-0_659639006/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-45-0_659639006/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e302588de339caa8b87f2c2b83ae96b5503bcf3b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-45-0_659639006/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1162.525811498236, + -425.2341916810605, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1165.1238877095893, + -426.7341916810605, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1167.7219639209427, + -428.2341916810605, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1170.320040132296, + -429.7341916810605, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1172.9181163436494, + -431.2341916810605, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1175.5161925550028, + -432.7341916810605, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1178.1142687663562, + -434.2341916810605, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1180.7123449777096, + -435.7341916810605, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1183.310421189063, + -437.2341916810605, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1185.9084974004163, + -438.7341916810605, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1188.5065736117697, + -440.2341916810605, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1191.104649823123, + -441.7341916810605, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1193.7027260344764, + -443.2341916810605, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1196.3008022458298, + -444.7341916810605, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1198.8988784571832, + -446.2341916810605, + 31.484221730651647 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1198.8988784571832, + -446.2341916810605, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1200.3988784571832, + -448.8322678924138, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1201.8988784571832, + -451.43034410376714, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1203.3988784571832, + -454.02842031512046, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1204.8988784571832, + -456.6264965264738, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1206.3988784571832, + -459.2245727378271, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1207.8988784571832, + -461.8226489491804, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1209.3988784571832, + -464.4207251605337, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1210.8988784571832, + -467.01880137188704, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1212.3988784571832, + -469.61687758324035, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1213.8988784571832, + -472.21495379459367, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1215.3988784571832, + -474.813030005947, + 31.484221730651647 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1215.3988784571832, + -474.813030005947, + 31.484221730651647 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1215.3988784571832, + -474.813030005947, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1218.3988784571832, + -474.813030005947, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1221.3988784571832, + -474.813030005947, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1224.3988784571832, + -474.813030005947, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1227.3988784571832, + -474.813030005947, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1230.3988784571832, + -474.813030005947, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1233.3988784571832, + -474.813030005947, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1236.3988784571832, + -474.813030005947, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1239.3988784571832, + -474.813030005947, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1242.3988784571832, + -474.813030005947, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1245.3988784571832, + -474.813030005947, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1248.3988784571832, + -474.813030005947, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1251.3988784571832, + -474.813030005947, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1254.3988784571832, + -474.813030005947, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1257.3988784571832, + -474.813030005947, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1260.3988784571832, + -474.813030005947, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1263.3988784571832, + -474.813030005947, + 31.484221730651647 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1263.3988784571832, + -474.813030005947, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1265.9969546685365, + -476.313030005947, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1268.59503087989, + -477.813030005947, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1271.1931070912433, + -479.313030005947, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1273.7911833025967, + -480.813030005947, + 31.484221730651647 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1276.38925951395, + -482.313030005947, + 31.484221730651647 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1308.0, + -500.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-47-13_577721120/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-47-13_577721120/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b0dffe60964975a39a5dea3f987d4ff33af5b78e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-47-13_577721120/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -355.6933291845686, + 150.7626614953159, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -355.6933291845686, + 153.7626614953159, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -355.6933291845686, + 156.7626614953159, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -355.6933291845686, + 159.7626614953159, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -355.6933291845686, + 162.7626614953159, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -355.6933291845686, + 165.7626614953159, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -355.6933291845686, + 168.7626614953159, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -355.6933291845686, + 171.7626614953159, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -355.6933291845686, + 174.7626614953159, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -355.6933291845686, + 177.7626614953159, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -355.6933291845686, + 180.7626614953159, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -355.6933291845686, + 183.7626614953159, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -355.6933291845686, + 186.7626614953159, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -355.6933291845686, + 189.7626614953159, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -355.6933291845686, + 192.7626614953159, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -355.6933291845686, + 195.7626614953159, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -355.6933291845686, + 198.7626614953159, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -355.6933291845686, + 201.7626614953159, + 30.572656498992334 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -355.6933291845686, + 201.7626614953159, + 30.572656498992334 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -355.6933291845686, + 201.7626614953159, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -353.0952529732153, + 203.2626614953159, + 30.572656498992334 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -353.0952529732153, + 203.2626614953159, + 30.572656498992334 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -353.0952529732153, + 203.2626614953159, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -353.0952529732153, + 206.2626614953159, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -353.0952529732153, + 209.2626614953159, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -353.0952529732153, + 212.2626614953159, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -353.0952529732153, + 215.2626614953159, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -353.0952529732153, + 218.2626614953159, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -353.0952529732153, + 221.2626614953159, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -353.0952529732153, + 224.2626614953159, + 30.572656498992334 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -353.0952529732153, + 224.2626614953159, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -354.5952529732153, + 226.86073770666923, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -356.0952529732153, + 229.45881391802254, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -357.5952529732153, + 232.05689012937586, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -359.0952529732153, + 234.65496634072917, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -360.5952529732153, + 237.2530425520825, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -362.0952529732153, + 239.8511187634358, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -363.5952529732153, + 242.44919497478912, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -365.0952529732153, + 245.04727118614244, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -366.5952529732153, + 247.64534739749575, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -368.0952529732153, + 250.24342360884907, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -369.5952529732153, + 252.8414998202024, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -371.0952529732153, + 255.4395760315557, + 30.572656498992334 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -371.0952529732153, + 255.4395760315557, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -373.6933291845686, + 256.9395760315557, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -376.2914053959219, + 258.4395760315557, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -378.88948160727523, + 259.9395760315557, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -381.48755781862855, + 261.4395760315557, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -384.08563402998186, + 262.9395760315557, + 30.572656498992334 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -386.6837102413352, + 264.4395760315557, + 30.572656498992334 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -404.0, + 324.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-6-18_845563291/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-6-18_845563291/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..522b2588c1344d3bbce5b3fe27519a29130238c4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-6-18_845563291/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1050.1783817994474, + 1765.0191649224123, + 32.40146066229763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1052.7764580108008, + 1766.5191649224123, + 32.40146066229763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1055.3745342221541, + 1768.0191649224123, + 32.40146066229763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1057.9726104335075, + 1769.5191649224123, + 32.40146066229763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1060.5706866448609, + 1771.0191649224123, + 32.40146066229763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1063.1687628562142, + 1772.5191649224123, + 32.40146066229763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1065.7668390675676, + 1774.0191649224123, + 32.40146066229763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1068.364915278921, + 1775.5191649224123, + 32.40146066229763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1070.9629914902744, + 1777.0191649224123, + 32.40146066229763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1073.5610677016277, + 1778.5191649224123, + 32.40146066229763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1076.159143912981, + 1780.0191649224123, + 32.40146066229763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1078.7572201243345, + 1781.5191649224123, + 32.40146066229763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1081.3552963356879, + 1783.0191649224123, + 32.40146066229763 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1081.3552963356879, + 1783.0191649224123, + 32.40146066229763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1082.8552963356879, + 1785.6172411337657, + 32.40146066229763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1084.3552963356879, + 1788.215317345119, + 32.40146066229763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1085.8552963356879, + 1790.8133935564724, + 32.40146066229763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1087.3552963356879, + 1793.4114697678258, + 32.40146066229763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1088.8552963356879, + 1796.0095459791792, + 32.40146066229763 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1090.3552963356879, + 1798.6076221905325, + 32.40146066229763 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1188.0, + 1876.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-15-10_903633726/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-15-10_903633726/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bbf9da63ee9cf2c67ec375042f1eb67588374cbc --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-15-10_903633726/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 973.8377501561841, + -1705.180216924644, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 975.3377501561841, + -1702.5821407132905, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 976.8377501561841, + -1699.9840645019372, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 978.3377501561841, + -1697.3859882905838, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 979.8377501561841, + -1694.7879120792304, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 981.3377501561841, + -1692.189835867877, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 982.8377501561841, + -1689.5917596565237, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 984.3377501561841, + -1686.9936834451703, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 985.8377501561841, + -1684.395607233817, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 987.3377501561841, + -1681.7975310224635, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 988.8377501561841, + -1679.1994548111102, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 990.3377501561841, + -1676.6013785997568, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 991.8377501561841, + -1674.0033023884034, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 993.3377501561841, + -1671.40522617705, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 994.8377501561841, + -1668.8071499656967, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 996.3377501561841, + -1666.2090737543433, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 997.8377501561841, + -1663.61099754299, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 999.3377501561841, + -1661.0129213316366, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1000.8377501561841, + -1658.4148451202832, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1002.3377501561841, + -1655.8167689089298, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1003.8377501561841, + -1653.2186926975764, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1005.3377501561841, + -1650.620616486223, + 36.161997619158434 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1005.3377501561841, + -1650.620616486223, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1005.3377501561841, + -1647.620616486223, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1005.3377501561841, + -1644.620616486223, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1005.3377501561841, + -1641.620616486223, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1005.3377501561841, + -1638.620616486223, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1005.3377501561841, + -1635.620616486223, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1005.3377501561841, + -1632.620616486223, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1005.3377501561841, + -1629.620616486223, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1005.3377501561841, + -1626.620616486223, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1005.3377501561841, + -1623.620616486223, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1005.3377501561841, + -1620.620616486223, + 36.161997619158434 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1005.3377501561841, + -1620.620616486223, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1006.8377501561841, + -1618.0225402748697, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1008.3377501561841, + -1615.4244640635163, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1009.8377501561841, + -1612.826387852163, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1011.3377501561841, + -1610.2283116408096, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1012.8377501561841, + -1607.6302354294562, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1014.3377501561841, + -1605.0321592181028, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1015.8377501561841, + -1602.4340830067495, + 36.161997619158434 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1015.8377501561841, + -1602.4340830067495, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1015.8377501561841, + -1599.4340830067495, + 36.161997619158434 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1015.8377501561841, + -1596.4340830067495, + 36.161997619158434 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1032.0, + -1556.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-18-4_892335526/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-18-4_892335526/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c24ea73205dc94b6235fc7358556304859b9c34a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-18-4_892335526/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 725.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 728.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 731.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 734.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 737.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 740.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 743.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 746.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 749.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 752.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 755.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 758.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 761.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 764.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 767.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 770.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 773.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 776.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 779.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 782.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 785.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 788.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 791.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 794.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 797.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 800.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 803.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 806.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 809.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 809.7648042751898, + -1733.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 812.3628804865432, + -1732.3958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 814.9609566978966, + -1730.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 817.5590329092499, + -1729.3958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 820.1571091206033, + -1727.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 822.7551853319567, + -1726.3958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 825.35326154331, + -1724.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 827.9513377546634, + -1723.3958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 830.5494139660168, + -1721.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 833.1474901773702, + -1720.3958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 835.7455663887235, + -1718.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 838.3436426000769, + -1717.3958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 840.9417188114303, + -1715.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 843.5397950227837, + -1714.3958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 846.137871234137, + -1712.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 848.7359474454904, + -1711.3958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 851.3340236568438, + -1709.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 853.9320998681972, + -1708.3958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 856.5301760795505, + -1706.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 859.1282522909039, + -1705.3958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 861.7263285022573, + -1703.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 864.3244047136106, + -1702.3958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 866.922480924964, + -1700.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 869.5205571363174, + -1699.3958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 872.1186333476708, + -1697.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 874.7167095590241, + -1696.3958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 877.3147857703775, + -1694.8958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 879.9128619817309, + -1693.3958081919131, + 38.97326463619068 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 882.5109381930843, + -1691.8958081919131, + 38.97326463619068 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 896.0, + -1688.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-28-11_335531187/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-28-11_335531187/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d64d4aaf2964470e4a2f819066c1ae171d674506 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-28-11_335531187/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -14.86151366990498, + 745.8909136203223, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -13.36151366990498, + 743.292837408969, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -11.86151366990498, + 740.6947611976157, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -10.36151366990498, + 738.0966849862623, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -8.86151366990498, + 735.4986087749089, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -7.36151366990498, + 732.9005325635555, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -5.86151366990498, + 730.3024563522022, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -4.36151366990498, + 727.7043801408488, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2.8615136699049795, + 725.1063039294954, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1.361513669904979, + 722.508227718142, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 0.13848633009502143, + 719.9101515067887, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1.6384863300950219, + 717.3120752954353, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3.1384863300950223, + 714.7139990840819, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4.638486330095023, + 712.1159228727286, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 6.138486330095024, + 709.5178466613752, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196607 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 7.638486330095024, + 706.9197704500218, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 9.138486330095024, + 704.3216942386684, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 10.638486330095024, + 701.7236180273151, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 12.138486330095024, + 699.1255418159617, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 13.638486330095024, + 696.5274656046083, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 15.138486330095024, + 693.929389393255, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 16.638486330095024, + 691.3313131819016, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 18.138486330095024, + 688.7332369705482, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 19.638486330095024, + 686.1351607591948, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 21.138486330095024, + 683.5370845478415, + 31.43927104802667 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 21.138486330095024, + 683.5370845478415, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 21.138486330095024, + 680.5370845478415, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 21.138486330095024, + 677.5370845478415, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 21.138486330095024, + 674.5370845478415, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 21.138486330095024, + 671.5370845478415, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 21.138486330095024, + 668.5370845478415, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 21.138486330095024, + 665.5370845478415, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 21.138486330095024, + 662.5370845478415, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 21.138486330095024, + 659.5370845478415, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 21.138486330095024, + 656.5370845478415, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 21.138486330095024, + 653.5370845478415, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 21.138486330095024, + 650.5370845478415, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 21.138486330095024, + 647.5370845478415, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 21.138486330095024, + 644.5370845478415, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 21.138486330095024, + 641.5370845478415, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 21.138486330095024, + 638.5370845478415, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 21.138486330095024, + 635.5370845478415, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 21.138486330095024, + 632.5370845478415, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 21.138486330095024, + 629.5370845478415, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 21.138486330095024, + 626.5370845478415, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 21.138486330095024, + 623.5370845478415, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 21.138486330095024, + 620.5370845478415, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 21.138486330095024, + 617.5370845478415, + 31.43927104802667 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 21.138486330095024, + 617.5370845478415, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 22.638486330095024, + 614.9390083364881, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 24.138486330095024, + 612.3409321251347, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 25.638486330095024, + 609.7428559137813, + 31.43927104802667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 27.138486330095024, + 607.144779702428, + 31.43927104802667 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.0, + 576.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-29-47_2063449294/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-29-47_2063449294/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2bedb604d36b04bb4288e9de42cd02f0b9526f52 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-29-47_2063449294/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 618.93328170318, + -753.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 618.93328170318, + -750.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 618.93328170318, + -747.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 618.93328170318, + -744.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 618.93328170318, + -741.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 618.93328170318, + -738.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 618.93328170318, + -735.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 618.93328170318, + -732.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 618.93328170318, + -729.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 618.93328170318, + -726.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 618.93328170318, + -723.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 618.93328170318, + -720.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 618.93328170318, + -717.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 618.93328170318, + -714.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 618.93328170318, + -711.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 618.93328170318, + -708.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 618.93328170318, + -705.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 618.93328170318, + -702.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 618.93328170318, + -699.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 618.93328170318, + -696.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 618.93328170318, + -693.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 618.93328170318, + -690.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 618.93328170318, + -687.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 618.93328170318, + -684.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 618.93328170318, + -681.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 618.93328170318, + -678.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 618.93328170318, + -675.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 618.93328170318, + -672.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 618.93328170318, + -669.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 618.93328170318, + -666.7870169533803, + 39.4947570990091 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 618.93328170318, + -666.7870169533803, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 620.43328170318, + -664.188940742027, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 621.93328170318, + -661.5908645306736, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 623.43328170318, + -658.9927883193202, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 624.93328170318, + -656.3947121079668, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 626.43328170318, + -653.7966358966135, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 627.93328170318, + -651.1985596852601, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 629.43328170318, + -648.6004834739067, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 630.93328170318, + -646.0024072625533, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 632.43328170318, + -643.4043310512, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 633.93328170318, + -640.8062548398466, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 635.43328170318, + -638.2081786284932, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 636.93328170318, + -635.6101024171398, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 638.43328170318, + -633.0120262057865, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 639.93328170318, + -630.4139499944331, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 641.43328170318, + -627.8158737830797, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 642.93328170318, + -625.2177975717264, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 644.43328170318, + -622.619721360373, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 645.93328170318, + -620.0216451490196, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 647.43328170318, + -617.4235689376662, + 39.4947570990091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 648.93328170318, + -614.8254927263129, + 39.4947570990091 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 656.0, + -580.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-30-20_494220239/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-30-20_494220239/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8bd0b30a075ca6f048cade642a81381b41f64e1b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-30-20_494220239/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -635.1720477508998, + 1387.2416014670716, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -633.6720477508998, + 1389.839677678425, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -632.1720477508998, + 1392.4377538897784, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -630.6720477508998, + 1395.0358301011318, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -629.1720477508998, + 1397.6339063124851, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -627.6720477508998, + 1400.2319825238385, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -626.1720477508998, + 1402.8300587351919, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -624.6720477508998, + 1405.4281349465452, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -623.1720477508998, + 1408.0262111578986, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -621.6720477508998, + 1410.624287369252, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -620.1720477508998, + 1413.2223635806054, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -618.6720477508998, + 1415.8204397919587, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -617.1720477508998, + 1418.418516003312, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -615.6720477508998, + 1421.0165922146655, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -614.1720477508998, + 1423.6146684260189, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -612.6720477508998, + 1426.2127446373722, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -611.1720477508998, + 1428.8108208487256, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -609.6720477508998, + 1431.408897060079, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -608.1720477508998, + 1434.0069732714323, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -606.6720477508998, + 1436.6050494827857, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -605.1720477508998, + 1439.203125694139, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -603.6720477508998, + 1441.8012019054925, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -602.1720477508998, + 1444.3992781168458, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -600.6720477508998, + 1446.9973543281992, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -599.1720477508998, + 1449.5954305395526, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -597.6720477508998, + 1452.193506750906, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -596.1720477508998, + 1454.7915829622593, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -594.6720477508998, + 1457.3896591736127, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -593.1720477508998, + 1459.987735384966, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -591.6720477508998, + 1462.5858115963194, + 39.41419059087018 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -591.6720477508998, + 1462.5858115963194, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -591.6720477508998, + 1465.5858115963194, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -591.6720477508998, + 1468.5858115963194, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -591.6720477508998, + 1471.5858115963194, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -591.6720477508998, + 1474.5858115963194, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -591.6720477508998, + 1477.5858115963194, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -591.6720477508998, + 1480.5858115963194, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -591.6720477508998, + 1483.5858115963194, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -591.6720477508998, + 1486.5858115963194, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -591.6720477508998, + 1489.5858115963194, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -591.6720477508998, + 1492.5858115963194, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -591.6720477508998, + 1495.5858115963194, + 39.41419059087018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -591.6720477508998, + 1498.5858115963194, + 39.41419059087018 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -572.0, + 1548.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-32-25_247849492/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-32-25_247849492/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0f45d6c222e76842a2957b46cf189728fa524a75 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-32-25_247849492/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -748.6096252552376, + -769.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -748.6096252552376, + -766.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -748.6096252552376, + -763.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -748.6096252552376, + -760.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -748.6096252552376, + -757.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -748.6096252552376, + -754.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -748.6096252552376, + -751.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -748.6096252552376, + -748.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -748.6096252552376, + -745.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -748.6096252552376, + -742.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -748.6096252552376, + -739.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -748.6096252552376, + -736.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -748.6096252552376, + -733.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -748.6096252552376, + -730.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -748.6096252552376, + -727.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -748.6096252552376, + -724.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -748.6096252552376, + -721.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -748.6096252552376, + -718.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -748.6096252552376, + -715.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -748.6096252552376, + -712.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -748.6096252552376, + -709.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -748.6096252552376, + -706.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -748.6096252552376, + -703.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -748.6096252552376, + -700.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -748.6096252552376, + -697.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -748.6096252552376, + -694.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -748.6096252552376, + -691.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -748.6096252552376, + -688.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -748.6096252552376, + -685.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -748.6096252552376, + -682.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -748.6096252552376, + -679.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -748.6096252552376, + -676.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -748.6096252552376, + -673.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -748.6096252552376, + -670.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -748.6096252552376, + -667.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -748.6096252552376, + -664.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -748.6096252552376, + -661.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -748.6096252552376, + -658.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -748.6096252552376, + -655.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -748.6096252552376, + -652.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -748.6096252552376, + -649.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -748.6096252552376, + -646.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -748.6096252552376, + -643.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -748.6096252552376, + -640.0353313525593, + 38.20822515061173 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -748.6096252552376, + -640.0353313525593, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -747.1096252552376, + -637.4372551412059, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -745.6096252552376, + -634.8391789298526, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -744.1096252552376, + -632.2411027184992, + 38.20822515061173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -742.6096252552376, + -629.6430265071458, + 38.20822515061173 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -740.0, + -608.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-39-46_2063018202/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-39-46_2063018202/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..488984f142aa3b8baf3278ed103e01e0eb135fa3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-39-46_2063018202/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1514.2846613042311, + -707.0232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1511.6865850928777, + -705.5232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1509.0885088815244, + -704.0232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1506.490432670171, + -702.5232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1503.8923564588176, + -701.0232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1501.2942802474643, + -699.5232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1498.6962040361109, + -698.0232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1496.0981278247575, + -696.5232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1493.5000516134041, + -695.0232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1490.9019754020508, + -693.5232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1488.3038991906974, + -692.0232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1485.705822979344, + -690.5232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1483.1077467679906, + -689.0232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1480.5096705566373, + -687.5232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1477.911594345284, + -686.0232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1475.3135181339305, + -684.5232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1472.7154419225772, + -683.0232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1470.1173657112238, + -681.5232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1467.5192894998704, + -680.0232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1464.921213288517, + -678.5232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1462.3231370771637, + -677.0232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1459.7250608658103, + -675.5232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1457.126984654457, + -674.0232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1454.5289084431035, + -672.5232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1451.9308322317502, + -671.0232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1449.3327560203968, + -669.5232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1446.7346798090434, + -668.0232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1444.13660359769, + -666.5232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1441.5385273863367, + -665.0232401743827, + 39.14609575749688 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1441.5385273863367, + -665.0232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1438.5385273863367, + -665.0232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1435.5385273863367, + -665.0232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1432.5385273863367, + -665.0232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1429.5385273863367, + -665.0232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1426.5385273863367, + -665.0232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1423.5385273863367, + -665.0232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1420.5385273863367, + -665.0232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1417.5385273863367, + -665.0232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1414.5385273863367, + -665.0232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1411.5385273863367, + -665.0232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1408.5385273863367, + -665.0232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1405.5385273863367, + -665.0232401743827, + 39.14609575749688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1402.5385273863367, + -665.0232401743827, + 39.14609575749688 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1348.0, + -644.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-26-16_269026234/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-26-16_269026234/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e150677a536d55d91ca2d3e9d1a8790e099b9ecc --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-26-16_269026234/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1167.6402730997381, + 471.4124650453599, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1169.1402730997381, + 474.0105412567132, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1170.6402730997381, + 476.60861746806654, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1172.1402730997381, + 479.20669367941986, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1173.6402730997381, + 481.8047698907732, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1175.1402730997381, + 484.4028461021265, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1176.6402730997381, + 487.0009223134798, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1178.1402730997381, + 489.5989985248331, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1179.6402730997381, + 492.19707473618644, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1181.1402730997381, + 494.79515094753975, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1182.6402730997381, + 497.39322715889307, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1184.1402730997381, + 499.9913033702464, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1185.6402730997381, + 502.5893795815997, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1187.1402730997381, + 505.187455792953, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1188.6402730997381, + 507.78553200430633, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1190.1402730997381, + 510.38360821565965, + 36.218524004256864 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1190.1402730997381, + 510.38360821565965, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1192.7383493110915, + 511.88360821565965, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1195.3364255224449, + 513.3836082156596, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598273 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1197.9345017337982, + 514.8836082156596, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1200.5325779451516, + 516.3836082156596, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1203.130654156505, + 517.8836082156596, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1205.7287303678584, + 519.3836082156596, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1208.3268065792117, + 520.8836082156596, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1210.924882790565, + 522.3836082156596, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1213.5229590019185, + 523.8836082156596, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1216.1210352132719, + 525.3836082156596, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1218.7191114246252, + 526.8836082156596, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1221.3171876359786, + 528.3836082156596, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1223.915263847332, + 529.8836082156596, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1226.5133400586853, + 531.3836082156596, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1229.1114162700387, + 532.8836082156596, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1231.709492481392, + 534.3836082156596, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1234.3075686927455, + 535.8836082156596, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1236.9056449040988, + 537.3836082156596, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1239.5037211154522, + 538.8836082156596, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1242.1017973268056, + 540.3836082156596, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1244.699873538159, + 541.8836082156596, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1247.2979497495123, + 543.3836082156596, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1249.8960259608657, + 544.8836082156596, + 36.218524004256864 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1249.8960259608657, + 544.8836082156596, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1251.3960259608657, + 547.4816844270129, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1252.8960259608657, + 550.0797606383662, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1254.3960259608657, + 552.6778368497196, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1255.8960259608657, + 555.275913061073, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1257.3960259608657, + 557.8739892724263, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1258.8960259608657, + 560.4720654837797, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1260.3960259608657, + 563.0701416951331, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1261.8960259608657, + 565.6682179064865, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1263.3960259608657, + 568.2662941178398, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1264.8960259608657, + 570.8643703291932, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1266.3960259608657, + 573.4624465405466, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1267.8960259608657, + 576.0605227519, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1269.3960259608657, + 578.6585989632533, + 36.218524004256864 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1269.3960259608657, + 578.6585989632533, + 36.218524004256864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1269.3960259608657, + 581.6585989632533, + 36.218524004256864 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267949059 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1288.0, + 604.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-34-39_1277392187/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-34-39_1277392187/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..61bdb81790dfa62b92f3f90c902049e6ede02a81 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-34-39_1277392187/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1603.8805632057506, + 83.1365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1601.2824869943972, + 84.6365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1598.6844107830439, + 86.1365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1596.0863345716905, + 87.6365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1593.488258360337, + 89.1365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1590.8901821489837, + 90.6365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1588.2921059376304, + 92.1365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1585.694029726277, + 93.6365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1583.0959535149236, + 95.1365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1580.4978773035702, + 96.6365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1577.8998010922169, + 98.1365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1575.3017248808635, + 99.6365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1572.7036486695101, + 101.1365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1570.1055724581568, + 102.6365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1567.5074962468034, + 104.1365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1564.90942003545, + 105.6365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1562.3113438240966, + 107.1365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1559.7132676127433, + 108.6365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1557.11519140139, + 110.1365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1554.5171151900365, + 111.6365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1551.9190389786831, + 113.1365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1549.3209627673298, + 114.6365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1546.7228865559764, + 116.1365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1544.124810344623, + 117.6365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1541.5267341332697, + 119.1365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1538.9286579219163, + 120.6365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1536.330581710563, + 122.1365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1533.7325054992095, + 123.6365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1531.1344292878562, + 125.1365530948165, + 33.939853966759365 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1531.1344292878562, + 125.1365530948165, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1529.6344292878562, + 127.73462930616982, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1528.1344292878562, + 130.33270551752315, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393193 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1526.6344292878562, + 132.93078172887647, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1525.1344292878562, + 135.52885794022978, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1523.6344292878562, + 138.1269341515831, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1522.1344292878562, + 140.72501036293642, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1520.6344292878562, + 143.32308657428973, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1519.1344292878562, + 145.92116278564305, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1517.6344292878562, + 148.51923899699636, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1516.1344292878562, + 151.11731520834968, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1514.6344292878562, + 153.715391419703, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1513.1344292878562, + 156.3134676310563, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1511.6344292878562, + 158.91154384240963, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1510.1344292878562, + 161.50962005376294, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1508.6344292878562, + 164.10769626511626, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1507.1344292878562, + 166.70577247646958, + 33.939853966759365 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1507.1344292878562, + 166.70577247646958, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1504.5363530765028, + 168.20577247646958, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1501.9382768651494, + 169.70577247646958, + 33.939853966759365 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1499.340200653796, + 171.20577247646958, + 33.939853966759365 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1480.0, + 188.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-10-20_582513990/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-10-20_582513990/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6e33bdf6355ead91a9917d4420982b4d6e812a0d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-10-20_582513990/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1717.511057198768, + -78.27913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1720.511057198768, + -78.27913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1723.511057198768, + -78.27913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1726.511057198768, + -78.27913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1729.511057198768, + -78.27913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1732.511057198768, + -78.27913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1735.511057198768, + -78.27913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1738.511057198768, + -78.27913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1741.511057198768, + -78.27913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1744.511057198768, + -78.27913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1747.511057198768, + -78.27913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1750.511057198768, + -78.27913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1753.511057198768, + -78.27913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1756.511057198768, + -78.27913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1759.511057198768, + -78.27913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1762.511057198768, + -78.27913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1765.511057198768, + -78.27913900216359, + 35.4781346939688 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1765.511057198768, + -78.27913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1768.1091334101213, + -79.77913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1770.7072096214747, + -81.27913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1773.305285832828, + -82.77913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1775.9033620441814, + -84.27913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1778.5014382555348, + -85.77913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1781.0995144668882, + -87.27913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1783.6975906782416, + -88.77913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1786.295666889595, + -90.27913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1788.8937431009483, + -91.77913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1791.4918193123017, + -93.27913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1794.089895523655, + -94.77913900216359, + 35.4781346939688 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1796.6879717350084, + -96.27913900216359, + 35.4781346939688 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1868.0, + -112.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-45-15_1571865573/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-45-15_1571865573/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..211b2382b8b8aa6351a9f1f37f4ffd66c0594458 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-45-15_1571865573/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1369.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1372.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1375.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1378.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1381.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1384.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1387.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1390.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1393.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1396.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1399.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1402.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1405.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1408.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1411.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1414.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1417.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1420.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1423.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1426.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1429.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1432.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1435.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1438.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1441.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1444.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1447.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1450.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1453.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1456.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1459.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1462.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1462.5082670796662, + -962.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1465.1063432910196, + -961.4820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1467.704419502373, + -959.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1470.3024957137263, + -958.4820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1472.9005719250797, + -956.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1475.498648136433, + -955.4820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1478.0967243477864, + -953.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1480.6948005591398, + -952.4820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1483.2928767704932, + -950.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1485.8909529818466, + -949.4820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1488.4890291932, + -947.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1491.0871054045533, + -946.4820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1493.6851816159067, + -944.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1496.28325782726, + -943.4820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1498.8813340386134, + -941.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1501.4794102499668, + -940.4820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1504.0774864613202, + -938.9820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1506.6755626726735, + -937.4820674001288, + 35.79505789860092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1509.273638884027, + -935.9820674001288, + 35.79505789860092 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1524.0, + -932.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-58-41_1580744477/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-58-41_1580744477/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad29c0df91e27aeac9bb0d847a97c568af17ed68 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-58-41_1580744477/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -728.686199016259, + 1622.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -725.686199016259, + 1622.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -722.686199016259, + 1622.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -719.686199016259, + 1622.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -716.686199016259, + 1622.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -713.686199016259, + 1622.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -710.686199016259, + 1622.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -707.686199016259, + 1622.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -704.686199016259, + 1622.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -701.686199016259, + 1622.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -698.686199016259, + 1622.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -695.686199016259, + 1622.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -692.686199016259, + 1622.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -689.686199016259, + 1622.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -686.686199016259, + 1622.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -683.686199016259, + 1622.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -680.686199016259, + 1622.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -677.686199016259, + 1622.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -674.686199016259, + 1622.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -671.686199016259, + 1622.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -668.686199016259, + 1622.4765908962486, + 37.37761536497863 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -668.686199016259, + 1622.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -666.0881228049057, + 1623.9765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -663.4900465935523, + 1625.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -660.8919703821989, + 1626.9765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -658.2938941708455, + 1628.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -655.6958179594922, + 1629.9765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -653.0977417481388, + 1631.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -650.4996655367854, + 1632.9765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -647.901589325432, + 1634.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -645.3035131140787, + 1635.9765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -642.7054369027253, + 1637.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -640.1073606913719, + 1638.9765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -637.5092844800186, + 1640.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -634.9112082686652, + 1641.9765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -632.3131320573118, + 1643.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -629.7150558459584, + 1644.9765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -627.1169796346051, + 1646.4765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -624.5189034232517, + 1647.9765908962486, + 37.37761536497863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -621.9208272118983, + 1649.4765908962486, + 37.37761536497863 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -580.0, + 1664.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-13-44_16570124/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-13-44_16570124/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9a143e00a63f290c979f82418f021f1cbd0319c0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-13-44_16570124/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1110.6447716570033, + -861.6244916457297, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1112.1447716570033, + -859.0264154343763, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1113.6447716570033, + -856.4283392230229, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1115.1447716570033, + -853.8302630116696, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1116.6447716570033, + -851.2321868003162, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1118.1447716570033, + -848.6341105889628, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1119.6447716570033, + -846.0360343776094, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1121.1447716570033, + -843.4379581662561, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1122.6447716570033, + -840.8398819549027, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1124.1447716570033, + -838.2418057435493, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1125.6447716570033, + -835.643729532196, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1127.1447716570033, + -833.0456533208426, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1128.6447716570033, + -830.4475771094892, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1130.1447716570033, + -827.8495008981358, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1131.6447716570033, + -825.2514246867825, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1133.1447716570033, + -822.6533484754291, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1134.6447716570033, + -820.0552722640757, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1136.1447716570033, + -817.4571960527223, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1137.6447716570033, + -814.859119841369, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1139.1447716570033, + -812.2610436300156, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1140.6447716570033, + -809.6629674186622, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1142.1447716570033, + -807.0648912073088, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1143.6447716570033, + -804.4668149959555, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1145.1447716570033, + -801.8687387846021, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1146.6447716570033, + -799.2706625732487, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1148.1447716570033, + -796.6725863618954, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1149.6447716570033, + -794.074510150542, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1151.1447716570033, + -791.4764339391886, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1152.6447716570033, + -788.8783577278352, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1154.1447716570033, + -786.2802815164819, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1155.6447716570033, + -783.6822053051285, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1157.1447716570033, + -781.0841290937751, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1158.6447716570033, + -778.4860528824217, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1160.1447716570033, + -775.8879766710684, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1161.6447716570033, + -773.289900459715, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1163.1447716570033, + -770.6918242483616, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1164.6447716570033, + -768.0937480370083, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1166.1447716570033, + -765.4956718256549, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1167.6447716570033, + -762.8975956143015, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1169.1447716570033, + -760.2995194029481, + 39.17303126605545 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1169.1447716570033, + -760.2995194029481, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1169.1447716570033, + -757.2995194029481, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1169.1447716570033, + -754.2995194029481, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1169.1447716570033, + -751.2995194029481, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1169.1447716570033, + -748.2995194029481, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1169.1447716570033, + -745.2995194029481, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1169.1447716570033, + -742.2995194029481, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1169.1447716570033, + -739.2995194029481, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1169.1447716570033, + -736.2995194029481, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1169.1447716570033, + -733.2995194029481, + 39.17303126605545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1169.1447716570033, + -730.2995194029481, + 39.17303126605545 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1184.0, + -704.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-6-48_701807124/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-6-48_701807124/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..13233e8cedc0613bff6ca5b3261f77078a27a1d0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-6-48_701807124/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1530.8355031050587, + -985.0596733157406, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1529.3355031050587, + -982.4615971043872, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1527.8355031050587, + -979.8635208930339, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1526.3355031050587, + -977.2654446816805, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1524.8355031050587, + -974.6673684703271, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1523.3355031050587, + -972.0692922589737, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1521.8355031050587, + -969.4712160476204, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1520.3355031050587, + -966.873139836267, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1518.8355031050587, + -964.2750636249136, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1517.3355031050587, + -961.6769874135603, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1515.8355031050587, + -959.0789112022069, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1514.3355031050587, + -956.4808349908535, + 38.808158074504306 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1514.3355031050587, + -956.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1514.3355031050587, + -953.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1514.3355031050587, + -950.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1514.3355031050587, + -947.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1514.3355031050587, + -944.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1514.3355031050587, + -941.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1514.3355031050587, + -938.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1514.3355031050587, + -935.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1514.3355031050587, + -932.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1514.3355031050587, + -929.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1514.3355031050587, + -926.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1514.3355031050587, + -923.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1514.3355031050587, + -920.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1514.3355031050587, + -917.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1514.3355031050587, + -914.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1514.3355031050587, + -911.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1514.3355031050587, + -908.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1514.3355031050587, + -905.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1514.3355031050587, + -902.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1514.3355031050587, + -899.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1514.3355031050587, + -896.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1514.3355031050587, + -893.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1514.3355031050587, + -890.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1514.3355031050587, + -887.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1514.3355031050587, + -884.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1514.3355031050587, + -881.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1514.3355031050587, + -878.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1514.3355031050587, + -875.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1514.3355031050587, + -872.4808349908535, + 38.808158074504306 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1514.3355031050587, + -872.4808349908535, + 38.808158074504306 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1514.3355031050587, + -872.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1511.7374268937053, + -870.9808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1509.139350682352, + -869.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1506.5412744709986, + -867.9808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1503.9431982596452, + -866.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1501.3451220482918, + -864.9808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1498.7470458369385, + -863.4808349908535, + 38.808158074504306 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1498.7470458369385, + -863.4808349908535, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1497.2470458369385, + -860.8827587795001, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1495.7470458369385, + -858.2846825681468, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1494.2470458369385, + -855.6866063567934, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1492.7470458369385, + -853.08853014544, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1491.2470458369385, + -850.4904539340866, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1489.7470458369385, + -847.8923777227333, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1488.2470458369385, + -845.2943015113799, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -1486.7470458369385, + -842.6962253000265, + 38.808158074504306 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -1486.7470458369385, + -842.6962253000265, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -1484.148969625585, + -841.1962253000265, + 38.808158074504306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -1481.5508934142317, + -839.6962253000265, + 38.808158074504306 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1472.0, + -816.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_3-36-14_1417076376/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_3-36-14_1417076376/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d5e337bb6af32ff33c0561a7aeb7a26fa5640f3a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_3-36-14_1417076376/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 360.1286770526133, + 267.2429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 357.53060084125997, + 265.7429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 354.93252462990665, + 264.2429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 352.33444841855334, + 262.7429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 349.7363722072, + 261.2429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 347.1382959958467, + 259.7429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 344.5402197844934, + 258.2429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 341.9421435731401, + 256.7429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 339.34406736178676, + 255.2429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 336.74599115043344, + 253.7429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 334.1479149390801, + 252.2429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 331.5498387277268, + 250.7429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 328.9517625163735, + 249.2429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 326.3536863050202, + 247.7429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 323.75561009366686, + 246.2429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 321.15753388231354, + 244.7429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 318.5594576709602, + 243.2429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 315.9613814596069, + 241.7429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 313.3633052482536, + 240.2429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 310.7652290369003, + 238.7429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 308.16715282554696, + 237.2429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 305.56907661419365, + 235.7429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 302.97100040284033, + 234.2429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 300.372924191487, + 232.7429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 297.7748479801337, + 231.2429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 295.1767717687804, + 229.7429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 292.57869555742707, + 228.2429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 289.98061934607375, + 226.7429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 287.38254313472044, + 225.2429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 284.7844669233671, + 223.7429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 282.1863907120138, + 222.2429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 279.5883145006605, + 220.7429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 276.9902382893072, + 219.2429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 274.39216207795386, + 217.7429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 271.79408586660054, + 216.2429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 269.1960096552472, + 214.7429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 266.5979334438939, + 213.2429759117959, + 30.172802649380728 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 266.5979334438939, + 213.2429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 263.5979334438939, + 213.2429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 260.5979334438939, + 213.2429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 257.5979334438939, + 213.2429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 254.5979334438939, + 213.2429759117959, + 30.172802649380728 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 251.5979334438939, + 213.2429759117959, + 30.172802649380728 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 216.0, + 196.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_3-39-14_1435218189/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_3-39-14_1435218189/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be6b20a432113d3c3139b5de1878bb446450a46c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_3-39-14_1435218189/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1713.8047490521808, + -819.5484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1711.2066728408274, + -821.0484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1708.608596629474, + -822.5484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1706.0105204181207, + -824.0484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1703.4124442067673, + -825.5484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1700.814367995414, + -827.0484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1698.2162917840606, + -828.5484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1695.6182155727072, + -830.0484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1693.0201393613538, + -831.5484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1690.4220631500004, + -833.0484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1687.823986938647, + -834.5484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1685.2259107272937, + -836.0484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1682.6278345159403, + -837.5484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1680.029758304587, + -839.0484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1677.4316820932336, + -840.5484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1674.8336058818802, + -842.0484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1672.2355296705268, + -843.5484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1669.6374534591735, + -845.0484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1667.03937724782, + -846.5484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1664.4413010364667, + -848.0484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1661.8432248251133, + -849.5484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1659.24514861376, + -851.0484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1656.6470724024066, + -852.5484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1654.0489961910532, + -854.0484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1651.4509199796998, + -855.5484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1648.8528437683465, + -857.0484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1646.254767556993, + -858.5484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1643.6566913456397, + -860.0484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1641.0586151342864, + -861.5484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1638.460538922933, + -863.0484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1635.8624627115796, + -864.5484066540744, + 35.71825161419588 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1635.8624627115796, + -864.5484066540744, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1634.3624627115796, + -867.1464828654277, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1632.8624627115796, + -869.7445590767811, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1631.3624627115796, + -872.3426352881345, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1629.8624627115796, + -874.9407114994879, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1628.3624627115796, + -877.5387877108412, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1626.8624627115796, + -880.1368639221946, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1625.3624627115796, + -882.734940133548, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1623.8624627115796, + -885.3330163449014, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1622.3624627115796, + -887.9310925562547, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1620.8624627115796, + -890.5291687676081, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1619.3624627115796, + -893.1272449789615, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1617.8624627115796, + -895.7253211903148, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1616.3624627115796, + -898.3233974016682, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1614.8624627115796, + -900.9214736130216, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1613.3624627115796, + -903.519549824375, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1611.8624627115796, + -906.1176260357283, + 35.71825161419588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1610.3624627115796, + -908.7157022470817, + 35.71825161419588 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1592.0, + -928.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_4-20-24_428903682/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_4-20-24_428903682/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..64a54b10ad10dd94fd8658f44f0485ba0ed4e7b6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_4-20-24_428903682/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 871.9218183358485, + 1684.5832370763221, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 874.5198945472018, + 1686.0832370763221, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 877.1179707585552, + 1687.5832370763221, + 36.76408040573041 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 877.1179707585552, + 1687.5832370763221, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 878.6179707585552, + 1690.1813132876755, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 880.1179707585552, + 1692.7793894990289, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 881.6179707585552, + 1695.3774657103822, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 883.1179707585552, + 1697.9755419217356, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 884.6179707585552, + 1700.573618133089, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 886.1179707585552, + 1703.1716943444424, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 887.6179707585552, + 1705.7697705557957, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 889.1179707585552, + 1708.367846767149, + 36.76408040573041 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 889.1179707585552, + 1708.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 889.1179707585552, + 1711.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 889.1179707585552, + 1714.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 889.1179707585552, + 1717.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 889.1179707585552, + 1720.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 889.1179707585552, + 1723.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 889.1179707585552, + 1726.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 889.1179707585552, + 1729.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 889.1179707585552, + 1732.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 889.1179707585552, + 1735.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 889.1179707585552, + 1738.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 889.1179707585552, + 1741.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 889.1179707585552, + 1744.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 889.1179707585552, + 1747.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 889.1179707585552, + 1750.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 889.1179707585552, + 1753.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 889.1179707585552, + 1756.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 889.1179707585552, + 1759.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 889.1179707585552, + 1762.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 889.1179707585552, + 1765.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 889.1179707585552, + 1768.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 889.1179707585552, + 1771.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 889.1179707585552, + 1774.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 889.1179707585552, + 1777.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 889.1179707585552, + 1780.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 889.1179707585552, + 1783.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 889.1179707585552, + 1786.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 889.1179707585552, + 1789.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 889.1179707585552, + 1792.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 889.1179707585552, + 1795.367846767149, + 36.76408040573041 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 889.1179707585552, + 1798.367846767149, + 36.76408040573041 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 896.0, + 1840.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_4-29-56_1745897490/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_4-29-56_1745897490/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..58a48b3a992232b6d736aaceb1b09025409e3b27 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_4-29-56_1745897490/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 604.7054375862771, + 601.4473960254577, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 607.7054375862771, + 601.4473960254577, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 610.7054375862771, + 601.4473960254577, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 613.7054375862771, + 601.4473960254577, + 34.66484319782455 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 613.7054375862771, + 601.4473960254577, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 616.3035137976303, + 599.9473960254577, + 34.66484319782455 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 616.3035137976303, + 599.9473960254577, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 617.8035137976303, + 597.3493198141043, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 619.3035137976303, + 594.751243602751, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 620.8035137976303, + 592.1531673913976, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 622.3035137976303, + 589.5550911800442, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 623.8035137976303, + 586.9570149686908, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 625.3035137976303, + 584.3589387573375, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 626.8035137976303, + 581.7608625459841, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 628.3035137976303, + 579.1627863346307, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 629.8035137976303, + 576.5647101232773, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 631.3035137976303, + 573.966633911924, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 632.8035137976303, + 571.3685577005706, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 634.3035137976303, + 568.7704814892172, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 635.8035137976303, + 566.1724052778638, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 637.3035137976303, + 563.5743290665105, + 34.66484319782455 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 637.3035137976303, + 563.5743290665105, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 639.9015900089837, + 562.0743290665105, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 642.4996662203371, + 560.5743290665105, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 645.0977424316904, + 559.0743290665105, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 647.6958186430438, + 557.5743290665105, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 650.2938948543972, + 556.0743290665105, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 652.8919710657506, + 554.5743290665105, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 655.4900472771039, + 553.0743290665105, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 658.0881234884573, + 551.5743290665105, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 660.6861996998107, + 550.0743290665105, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 663.2842759111641, + 548.5743290665105, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 665.8823521225174, + 547.0743290665105, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 668.4804283338708, + 545.5743290665105, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 671.0785045452242, + 544.0743290665105, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 673.6765807565776, + 542.5743290665105, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 676.2746569679309, + 541.0743290665105, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 678.8727331792843, + 539.5743290665105, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 681.4708093906377, + 538.0743290665105, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 684.068885601991, + 536.5743290665105, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 686.6669618133444, + 535.0743290665105, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 689.2650380246978, + 533.5743290665105, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 691.8631142360512, + 532.0743290665105, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 694.4611904474045, + 530.5743290665105, + 34.66484319782455 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 694.4611904474045, + 530.5743290665105, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 697.4611904474045, + 530.5743290665105, + 34.66484319782455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 700.4611904474045, + 530.5743290665105, + 34.66484319782455 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 728.0, + 512.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_4-46-44_146533149/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_4-46-44_146533149/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..158e91ecf79cf98e2e18588b76f832af85b92425 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_4-46-44_146533149/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 393.78978479835996, + 890.9507666150721, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 396.78978479835996, + 890.9507666150721, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 399.78978479835996, + 890.9507666150721, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 402.78978479835996, + 890.9507666150721, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 405.78978479835996, + 890.9507666150721, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 408.78978479835996, + 890.9507666150721, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 411.78978479835996, + 890.9507666150721, + 30.514774845910516 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 411.78978479835996, + 890.9507666150721, + 30.514774845910516 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 411.78978479835996, + 890.9507666150721, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 413.28978479835996, + 893.5488428264255, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 414.78978479835996, + 896.1469190377788, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 416.28978479835996, + 898.7449952491322, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 417.78978479835996, + 901.3430714604856, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 419.28978479835996, + 903.941147671839, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 420.78978479835996, + 906.5392238831923, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 422.28978479835996, + 909.1373000945457, + 30.514774845910516 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 422.28978479835996, + 909.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 424.8878610097133, + 910.6373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 427.4859372210666, + 912.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 430.0840134324199, + 913.6373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 432.6820896437732, + 915.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 435.28016585512654, + 916.6373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 437.87824206647986, + 918.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 440.4763182778332, + 919.6373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 443.0743944891865, + 921.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 445.6724707005398, + 922.6373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 448.2705469118931, + 924.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 450.86862312324644, + 925.6373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 453.46669933459975, + 927.1373000945457, + 30.514774845910516 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 453.46669933459975, + 927.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 456.46669933459975, + 927.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 459.46669933459975, + 927.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 462.46669933459975, + 927.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 465.46669933459975, + 927.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 468.46669933459975, + 927.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 471.46669933459975, + 927.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 474.46669933459975, + 927.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 477.46669933459975, + 927.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 480.46669933459975, + 927.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 483.46669933459975, + 927.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 486.46669933459975, + 927.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 489.46669933459975, + 927.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 492.46669933459975, + 927.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 495.46669933459975, + 927.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 498.46669933459975, + 927.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 501.46669933459975, + 927.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 504.46669933459975, + 927.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 507.46669933459975, + 927.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 510.46669933459975, + 927.1373000945457, + 30.514774845910516 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 510.46669933459975, + 927.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 513.0647755459531, + 925.6373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 515.6628517573065, + 924.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 518.2609279686599, + 922.6373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 520.8590041800132, + 921.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 523.4570803913666, + 919.6373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 526.05515660272, + 918.1373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 528.6532328140734, + 916.6373000945457, + 30.514774845910516 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 531.2513090254267, + 915.1373000945457, + 30.514774845910516 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.0, + 920.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-48-24_1337434154/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-48-24_1337434154/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ff4365a38cfba1c331a5028c6e57f1694da023d5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-48-24_1337434154/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1392.2142214242353, + 1322.8099584026454, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1393.7142214242353, + 1320.211882191292, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1395.2142214242353, + 1317.6138059799387, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1396.7142214242353, + 1315.0157297685853, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1398.2142214242353, + 1312.417653557232, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1399.7142214242353, + 1309.8195773458785, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1401.2142214242353, + 1307.2215011345252, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1402.7142214242353, + 1304.6234249231718, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1404.2142214242353, + 1302.0253487118184, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1405.7142214242353, + 1299.427272500465, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1407.2142214242353, + 1296.8291962891117, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1408.7142214242353, + 1294.2311200777583, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1410.2142214242353, + 1291.633043866405, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1411.7142214242353, + 1289.0349676550516, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1413.2142214242353, + 1286.4368914436982, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1414.7142214242353, + 1283.8388152323448, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1416.2142214242353, + 1281.2407390209914, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1417.7142214242353, + 1278.642662809638, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1419.2142214242353, + 1276.0445865982847, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1420.7142214242353, + 1273.4465103869313, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1422.2142214242353, + 1270.848434175578, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1423.7142214242353, + 1268.2503579642246, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1425.2142214242353, + 1265.6522817528712, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1426.7142214242353, + 1263.0542055415178, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1428.2142214242353, + 1260.4561293301645, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1429.7142214242353, + 1257.858053118811, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1431.2142214242353, + 1255.2599769074577, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1432.7142214242353, + 1252.6619006961043, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1434.2142214242353, + 1250.063824484751, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1435.7142214242353, + 1247.4657482733976, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1437.2142214242353, + 1244.8676720620442, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1438.7142214242353, + 1242.2695958506908, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1440.2142214242353, + 1239.6715196393375, + 31.48625789371751 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1440.2142214242353, + 1239.6715196393375, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1440.2142214242353, + 1236.6715196393375, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1440.2142214242353, + 1233.6715196393375, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1440.2142214242353, + 1230.6715196393375, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1440.2142214242353, + 1227.6715196393375, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1440.2142214242353, + 1224.6715196393375, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1440.2142214242353, + 1221.6715196393375, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1440.2142214242353, + 1218.6715196393375, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1440.2142214242353, + 1215.6715196393375, + 31.48625789371751 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1440.2142214242353, + 1212.6715196393375, + 31.48625789371751 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1452.0, + 1184.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-7-34_1434322197/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-7-34_1434322197/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..75c25bad66b85379f261e1cd35b1b9164a4ab3c4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-7-34_1434322197/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1349.7304328962803, + 129.61052336951315, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1352.7304328962803, + 129.61052336951315, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1355.7304328962803, + 129.61052336951315, + 30.830039016069087 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1355.7304328962803, + 129.61052336951315, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1358.3285091076336, + 131.11052336951315, + 30.830039016069087 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1358.3285091076336, + 131.11052336951315, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1359.8285091076336, + 133.70859958086646, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1361.3285091076336, + 136.30667579221978, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1362.8285091076336, + 138.9047520035731, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1364.3285091076336, + 141.5028282149264, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1365.8285091076336, + 144.10090442627973, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1367.3285091076336, + 146.69898063763304, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1368.8285091076336, + 149.29705684898636, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1370.3285091076336, + 151.89513306033967, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1371.8285091076336, + 154.493209271693, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1373.3285091076336, + 157.0912854830463, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1374.8285091076336, + 159.68936169439962, + 30.830039016069087 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1374.8285091076336, + 159.68936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1377.426585318987, + 161.18936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1380.0246615303404, + 162.68936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1382.6227377416938, + 164.18936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1385.2208139530471, + 165.68936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1387.8188901644005, + 167.18936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1390.4169663757539, + 168.68936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1393.0150425871072, + 170.18936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1395.6131187984606, + 171.68936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1398.211195009814, + 173.18936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1400.8092712211674, + 174.68936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1403.4073474325207, + 176.18936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1406.005423643874, + 177.68936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1408.6034998552275, + 179.18936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1411.2015760665809, + 180.68936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1413.7996522779342, + 182.18936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1416.3977284892876, + 183.68936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1418.995804700641, + 185.18936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1421.5938809119943, + 186.68936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1424.1919571233477, + 188.18936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1426.790033334701, + 189.68936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1429.3881095460545, + 191.18936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1431.9861857574078, + 192.68936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1434.5842619687612, + 194.18936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1437.1823381801146, + 195.68936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1439.780414391468, + 197.18936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1442.3784906028213, + 198.68936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1444.9765668141747, + 200.18936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1447.574643025528, + 201.68936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1450.1727192368814, + 203.18936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1452.7707954482348, + 204.68936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1455.3688716595882, + 206.18936169439962, + 30.830039016069087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1457.9669478709416, + 207.68936169439962, + 30.830039016069087 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1472.0, + 220.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-10-16_1450099355/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-10-16_1450099355/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d1bf599cc4556aeb840101a898972f7f263ffc6e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-10-16_1450099355/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -580.6351479730278, + 678.6195734945435, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -579.1351479730278, + 676.0214972831902, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -577.6351479730278, + 673.4234210718369, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -576.1351479730278, + 670.8253448604835, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -574.6351479730278, + 668.2272686491301, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -573.1351479730278, + 665.6291924377767, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -571.6351479730278, + 663.0311162264234, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -570.1351479730278, + 660.43304001507, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -568.6351479730278, + 657.8349638037166, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -567.1351479730278, + 655.2368875923632, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -565.6351479730278, + 652.6388113810099, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -564.1351479730278, + 650.0407351696565, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -562.6351479730278, + 647.4426589583031, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -561.1351479730278, + 644.8445827469498, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -559.6351479730278, + 642.2465065355964, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -558.1351479730278, + 639.648430324243, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -556.6351479730278, + 637.0503541128896, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -555.1351479730278, + 634.4522779015363, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -553.6351479730278, + 631.8542016901829, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -552.1351479730278, + 629.2561254788295, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -550.6351479730278, + 626.6580492674761, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -549.1351479730278, + 624.0599730561228, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -547.6351479730278, + 621.4618968447694, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -546.1351479730278, + 618.863820633416, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -544.6351479730278, + 616.2657444220627, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -543.1351479730278, + 613.6676682107093, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -541.6351479730278, + 611.0695919993559, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -540.1351479730278, + 608.4715157880025, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -538.6351479730278, + 605.8734395766492, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -537.1351479730278, + 603.2753633652958, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -535.6351479730278, + 600.6772871539424, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -534.1351479730278, + 598.079210942589, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -532.6351479730278, + 595.4811347312357, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -531.1351479730278, + 592.8830585198823, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -529.6351479730278, + 590.2849823085289, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -528.1351479730278, + 587.6869060971756, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -526.6351479730278, + 585.0888298858222, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -525.1351479730278, + 582.4907536744688, + 37.361801459965406 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -525.1351479730278, + 582.4907536744688, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -525.1351479730278, + 579.4907536744688, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -525.1351479730278, + 576.4907536744688, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -525.1351479730278, + 573.4907536744688, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -525.1351479730278, + 570.4907536744688, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -525.1351479730278, + 567.4907536744688, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -525.1351479730278, + 564.4907536744688, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -525.1351479730278, + 561.4907536744688, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -525.1351479730278, + 558.4907536744688, + 37.361801459965406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -525.1351479730278, + 555.4907536744688, + 37.361801459965406 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -516.0, + 536.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-2-10_1762924393/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-2-10_1762924393/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cec1d81c41f978d13973b8dfc3d35f5a226c77fa --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-2-10_1762924393/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1286.3525134755416, + -780.2465812909693, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1284.8525134755416, + -777.6485050796159, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1283.3525134755416, + -775.0504288682625, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1281.8525134755416, + -772.4523526569092, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1280.3525134755416, + -769.8542764455558, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1278.8525134755416, + -767.2562002342024, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1277.3525134755416, + -764.658124022849, + 37.50475727536008 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1277.3525134755416, + -764.658124022849, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1277.3525134755416, + -761.658124022849, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1277.3525134755416, + -758.658124022849, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1277.3525134755416, + -755.658124022849, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1277.3525134755416, + -752.658124022849, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1277.3525134755416, + -749.658124022849, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1277.3525134755416, + -746.658124022849, + 37.50475727536008 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1277.3525134755416, + -746.658124022849, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1275.8525134755416, + -744.0600478114957, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1274.3525134755416, + -741.4619716001423, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1272.8525134755416, + -738.8638953887889, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1271.3525134755416, + -736.2658191774356, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1269.8525134755416, + -733.6677429660822, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1268.3525134755416, + -731.0696667547288, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1266.8525134755416, + -728.4715905433754, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1265.3525134755416, + -725.8735143320221, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1263.8525134755416, + -723.2754381206687, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1262.3525134755416, + -720.6773619093153, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1260.8525134755416, + -718.079285697962, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1259.3525134755416, + -715.4812094866086, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1257.8525134755416, + -712.8831332752552, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1256.3525134755416, + -710.2850570639018, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1254.8525134755416, + -707.6869808525485, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1253.3525134755416, + -705.0889046411951, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1251.8525134755416, + -702.4908284298417, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1250.3525134755416, + -699.8927522184883, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1248.8525134755416, + -697.294676007135, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1247.3525134755416, + -694.6965997957816, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1245.8525134755416, + -692.0985235844282, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1244.3525134755416, + -689.5004473730748, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1242.8525134755416, + -686.9023711617215, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1241.3525134755416, + -684.3042949503681, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1239.8525134755416, + -681.7062187390147, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1238.3525134755416, + -679.1081425276614, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1236.8525134755416, + -676.510066316308, + 37.50475727536008 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1236.8525134755416, + -676.510066316308, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1234.2544372641883, + -675.010066316308, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1231.6563610528349, + -673.510066316308, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1229.0582848414815, + -672.010066316308, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1226.4602086301281, + -670.510066316308, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1223.8621324187748, + -669.010066316308, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1221.2640562074214, + -667.510066316308, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1218.665979996068, + -666.010066316308, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1216.0679037847146, + -664.510066316308, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1213.4698275733613, + -663.010066316308, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1210.871751362008, + -661.510066316308, + 37.50475727536008 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1210.871751362008, + -661.510066316308, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1209.371751362008, + -658.9119901049546, + 37.50475727536008 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1207.871751362008, + -656.3139138936012, + 37.50475727536008 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1192.0, + -632.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-48-8_698312496/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-48-8_698312496/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aaa410f371b24cd95271ff70e74a95f02b66a1a8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-48-8_698312496/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1360.3866628942512, + -280.82804505397485, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1361.8866628942512, + -278.22996884262153, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1363.3866628942512, + -275.6318926312682, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1364.8866628942512, + -273.0338164199149, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1366.3866628942512, + -270.4357402085616, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1367.8866628942512, + -267.83766399720827, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1369.3866628942512, + -265.23958778585495, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1370.8866628942512, + -262.64151157450164, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1372.3866628942512, + -260.0434353631483, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1373.8866628942512, + -257.445359151795, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1375.3866628942512, + -254.8472829404417, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1376.8866628942512, + -252.24920672908837, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1378.3866628942512, + -249.65113051773506, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1379.8866628942512, + -247.05305430638174, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1381.3866628942512, + -244.45497809502842, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1382.8866628942512, + -241.8569018836751, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1384.3866628942512, + -239.2588256723218, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1385.8866628942512, + -236.66074946096847, + 39.82889392276394 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1385.8866628942512, + -236.66074946096847, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1385.8866628942512, + -233.66074946096847, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1385.8866628942512, + -230.66074946096847, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1385.8866628942512, + -227.66074946096847, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1385.8866628942512, + -224.66074946096847, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1385.8866628942512, + -221.66074946096847, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1385.8866628942512, + -218.66074946096847, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1385.8866628942512, + -215.66074946096847, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1385.8866628942512, + -212.66074946096847, + 39.82889392276394 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1385.8866628942512, + -212.66074946096847, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1387.3866628942512, + -210.06267324961516, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1388.8866628942512, + -207.46459703826184, + 39.82889392276394 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1388.8866628942512, + -207.46459703826184, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1391.4847391056046, + -205.96459703826184, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1394.082815316958, + -204.46459703826184, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1396.6808915283113, + -202.96459703826184, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1399.2789677396647, + -201.46459703826184, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1401.877043951018, + -199.96459703826184, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1404.4751201623715, + -198.46459703826184, + 39.82889392276394 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1407.0731963737248, + -196.96459703826184, + 39.82889392276394 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1440.0, + -148.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-49-42_522971726/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-49-42_522971726/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ef6d55f07fecd743fd225efbffb9ccb8e1a3378 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-49-42_522971726/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -962.6355369309639, + 1458.5353302642266, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -964.1355369309639, + 1461.13340647558, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -965.6355369309639, + 1463.7314826869333, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -967.1355369309639, + 1466.3295588982867, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -968.6355369309639, + 1468.92763510964, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -970.1355369309639, + 1471.5257113209934, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -971.6355369309639, + 1474.1237875323468, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -973.1355369309639, + 1476.7218637437002, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -974.6355369309639, + 1479.3199399550535, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -976.1355369309639, + 1481.918016166407, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -977.6355369309639, + 1484.5160923777603, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -979.1355369309639, + 1487.1141685891137, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -980.6355369309639, + 1489.712244800467, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -982.1355369309639, + 1492.3103210118204, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -983.6355369309639, + 1494.9083972231738, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -985.1355369309639, + 1497.5064734345272, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -986.6355369309639, + 1500.1045496458805, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -988.1355369309639, + 1502.702625857234, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -989.6355369309639, + 1505.3007020685873, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -991.1355369309639, + 1507.8987782799406, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -992.6355369309639, + 1510.496854491294, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -994.1355369309639, + 1513.0949307026474, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -995.6355369309639, + 1515.6930069140008, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -997.1355369309639, + 1518.2910831253541, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -998.6355369309639, + 1520.8891593367075, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1000.1355369309639, + 1523.4872355480609, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1001.6355369309639, + 1526.0853117594143, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1003.1355369309639, + 1528.6833879707676, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1004.6355369309639, + 1531.281464182121, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1006.1355369309639, + 1533.8795403934744, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1007.6355369309639, + 1536.4776166048277, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1009.1355369309639, + 1539.0756928161811, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1010.6355369309639, + 1541.6737690275345, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1012.1355369309639, + 1544.2718452388879, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1013.6355369309639, + 1546.8699214502412, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1015.1355369309639, + 1549.4679976615946, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1016.6355369309639, + 1552.066073872948, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1018.1355369309639, + 1554.6641500843014, + 39.94174268061614 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1018.1355369309639, + 1554.6641500843014, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1018.1355369309639, + 1557.6641500843014, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1018.1355369309639, + 1560.6641500843014, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1018.1355369309639, + 1563.6641500843014, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1018.1355369309639, + 1566.6641500843014, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1018.1355369309639, + 1569.6641500843014, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1018.1355369309639, + 1572.6641500843014, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1018.1355369309639, + 1575.6641500843014, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1018.1355369309639, + 1578.6641500843014, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1018.1355369309639, + 1581.6641500843014, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1018.1355369309639, + 1584.6641500843014, + 39.94174268061614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1018.1355369309639, + 1587.6641500843014, + 39.94174268061614 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1032.0, + 1620.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-52-1_455843485/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-52-1_455843485/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..805b9f07c3f2a2eadcb1468997c87a68b1f47b04 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-52-1_455843485/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1586.9347803039122, + -39.76327309398846, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1588.4347803039122, + -37.16519688263514, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1589.9347803039122, + -34.56712067128183, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1591.4347803039122, + -31.96904445992851, + 39.3638526329217 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1591.4347803039122, + -31.96904445992851, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1591.4347803039122, + -28.96904445992851, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1591.4347803039122, + -25.96904445992851, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1591.4347803039122, + -22.96904445992851, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1591.4347803039122, + -19.96904445992851, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1591.4347803039122, + -16.96904445992851, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1591.4347803039122, + -13.969044459928512, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1591.4347803039122, + -10.969044459928512, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1591.4347803039122, + -7.9690444599285115, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1591.4347803039122, + -4.9690444599285115, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1591.4347803039122, + -1.9690444599285115, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1591.4347803039122, + 1.0309555400714885, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1591.4347803039122, + 4.0309555400714885, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1591.4347803039122, + 7.0309555400714885, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1591.4347803039122, + 10.030955540071488, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1591.4347803039122, + 13.030955540071488, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1591.4347803039122, + 16.03095554007149, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1591.4347803039122, + 19.03095554007149, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1591.4347803039122, + 22.03095554007149, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1591.4347803039122, + 25.03095554007149, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1591.4347803039122, + 28.03095554007149, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1591.4347803039122, + 31.03095554007149, + 39.3638526329217 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1591.4347803039122, + 31.03095554007149, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1592.9347803039122, + 33.629031751424804, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1594.4347803039122, + 36.22710796277812, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1595.9347803039122, + 38.82518417413144, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1597.4347803039122, + 41.42326038548475, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1598.9347803039122, + 44.02133659683807, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1600.4347803039122, + 46.619412808191385, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1601.9347803039122, + 49.2174890195447, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1603.4347803039122, + 51.81556523089802, + 39.3638526329217 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1603.4347803039122, + 51.81556523089802, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1606.0328565152656, + 53.31556523089802, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1608.630932726619, + 54.81556523089802, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1611.2290089379724, + 56.31556523089802, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1613.8270851493257, + 57.81556523089802, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1616.425161360679, + 59.31556523089802, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1619.0232375720325, + 60.81556523089802, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1621.6213137833859, + 62.31556523089802, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1624.2193899947392, + 63.81556523089802, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1626.8174662060926, + 65.31556523089802, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1629.415542417446, + 66.81556523089802, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1632.0136186287993, + 68.31556523089802, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1634.6116948401527, + 69.81556523089802, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1637.209771051506, + 71.31556523089802, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1639.8078472628595, + 72.81556523089802, + 39.3638526329217 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1639.8078472628595, + 72.81556523089802, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1641.3078472628595, + 75.41364144225133, + 39.3638526329217 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1642.8078472628595, + 78.01171765360465, + 39.3638526329217 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1656.0, + 104.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-54-2_278450030/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-54-2_278450030/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7855665b109a038a1dcc8c162f3e0706b377e29a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-54-2_278450030/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1315.8410251840996, + 415.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1315.8410251840996, + 412.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1315.8410251840996, + 409.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1315.8410251840996, + 406.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1315.8410251840996, + 403.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1315.8410251840996, + 400.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1315.8410251840996, + 397.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1315.8410251840996, + 394.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1315.8410251840996, + 391.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1315.8410251840996, + 388.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1315.8410251840996, + 385.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1315.8410251840996, + 382.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1315.8410251840996, + 379.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1315.8410251840996, + 376.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1315.8410251840996, + 373.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1315.8410251840996, + 370.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1315.8410251840996, + 367.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1315.8410251840996, + 364.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1315.8410251840996, + 361.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1315.8410251840996, + 358.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1315.8410251840996, + 355.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1315.8410251840996, + 352.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1315.8410251840996, + 349.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1315.8410251840996, + 346.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1315.8410251840996, + 343.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1315.8410251840996, + 340.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1315.8410251840996, + 337.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1315.8410251840996, + 334.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1315.8410251840996, + 331.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1315.8410251840996, + 328.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1315.8410251840996, + 325.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1315.8410251840996, + 322.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1315.8410251840996, + 319.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1315.8410251840996, + 316.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1315.8410251840996, + 313.9507973391012, + 37.29077336212279 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1315.8410251840996, + 313.9507973391012, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1317.3410251840996, + 311.3527211277479, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1318.8410251840996, + 308.75464491639457, + 37.29077336212279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1320.3410251840996, + 306.15656870504125, + 37.29077336212279 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1324.0, + 252.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-56-32_1124734562/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-56-32_1124734562/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..573975a26739725bd5e93635817fac33a670441f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-56-32_1124734562/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 164.5763527952209, + -360.2768469983618, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 164.5763527952209, + -363.2768469983618, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 164.5763527952209, + -366.2768469983618, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 164.5763527952209, + -369.2768469983618, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 164.5763527952209, + -372.2768469983618, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 164.5763527952209, + -375.2768469983618, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 164.5763527952209, + -378.2768469983618, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 164.5763527952209, + -381.2768469983618, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 164.5763527952209, + -384.2768469983618, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 164.5763527952209, + -387.2768469983618, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 164.5763527952209, + -390.2768469983618, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 164.5763527952209, + -393.2768469983618, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 164.5763527952209, + -396.2768469983618, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 164.5763527952209, + -399.2768469983618, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 164.5763527952209, + -402.2768469983618, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 164.5763527952209, + -405.2768469983618, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 164.5763527952209, + -408.2768469983618, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 164.5763527952209, + -411.2768469983618, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 164.5763527952209, + -414.2768469983618, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 164.5763527952209, + -417.2768469983618, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 164.5763527952209, + -420.2768469983618, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 164.5763527952209, + -423.2768469983618, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 164.5763527952209, + -426.2768469983618, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 164.5763527952209, + -429.2768469983618, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 164.5763527952209, + -432.2768469983618, + 37.33270389578351 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 164.5763527952209, + -432.2768469983618, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 163.0763527952209, + -434.8749232097151, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 161.5763527952209, + -437.47299942106844, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 160.0763527952209, + -440.07107563242175, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 158.5763527952209, + -442.66915184377507, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 157.0763527952209, + -445.2672280551284, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 155.5763527952209, + -447.8653042664817, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 154.0763527952209, + -450.463380477835, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 152.5763527952209, + -453.06145668918833, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 151.0763527952209, + -455.65953290054165, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 149.5763527952209, + -458.25760911189496, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 148.0763527952209, + -460.8556853232483, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 146.5763527952209, + -463.4537615346016, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 145.0763527952209, + -466.0518377459549, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 143.5763527952209, + -468.64991395730823, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 142.0763527952209, + -471.24799016866154, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 140.5763527952209, + -473.84606638001486, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 139.0763527952209, + -476.4441425913682, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 137.5763527952209, + -479.0422188027215, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 136.0763527952209, + -481.6402950140748, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 134.5763527952209, + -484.2383712254281, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 133.0763527952209, + -486.83644743678144, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 131.5763527952209, + -489.43452364813476, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 130.0763527952209, + -492.0325998594881, + 37.33270389578351 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 130.0763527952209, + -492.0325998594881, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 130.0763527952209, + -495.0325998594881, + 37.33270389578351 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 130.0763527952209, + -498.0325998594881, + 37.33270389578351 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 124.0, + -520.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_7-18-15_1855843024/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_7-18-15_1855843024/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c1ce64c86f127b4d7f4519d36c0372902aa24a7e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_7-18-15_1855843024/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1068.303721794974, + 277.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1068.303721794974, + 280.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1068.303721794974, + 283.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1068.303721794974, + 286.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1068.303721794974, + 289.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1068.303721794974, + 292.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1068.303721794974, + 295.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1068.303721794974, + 298.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1068.303721794974, + 301.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1068.303721794974, + 304.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1068.303721794974, + 307.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1068.303721794974, + 310.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1068.303721794974, + 313.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1068.303721794974, + 316.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1068.303721794974, + 319.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1068.303721794974, + 322.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1068.303721794974, + 325.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1068.303721794974, + 328.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1068.303721794974, + 331.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1068.303721794974, + 334.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1068.303721794974, + 337.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1068.303721794974, + 340.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1068.303721794974, + 343.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1068.303721794974, + 346.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1068.303721794974, + 349.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1068.303721794974, + 352.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1068.303721794974, + 355.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1068.303721794974, + 358.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1068.303721794974, + 361.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1068.303721794974, + 364.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1068.303721794974, + 367.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1068.303721794974, + 370.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1068.303721794974, + 373.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1068.303721794974, + 376.3951289799554, + 37.72909890008571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1068.303721794974, + 376.3951289799554, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1069.803721794974, + 378.99320519130873, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1071.303721794974, + 381.59128140266205, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1072.803721794974, + 384.18935761401536, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1074.303721794974, + 386.7874338253687, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1075.803721794974, + 389.385510036722, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1077.303721794974, + 391.9835862480753, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1078.803721794974, + 394.5816624594286, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1080.303721794974, + 397.17973867078194, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1081.803721794974, + 399.77781488213526, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1083.303721794974, + 402.3758910934886, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1084.803721794974, + 404.9739673048419, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1086.303721794974, + 407.5720435161952, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1087.803721794974, + 410.1701197275485, + 37.72909890008571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1089.303721794974, + 412.76819593890184, + 37.72909890008571 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1096.0, + 436.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_7-26-50_499429649/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_7-26-50_499429649/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..86a8448341483dd19cb38e147a5d0f43a4b393b9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_7-26-50_499429649/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -142.8522217014426, + 1002.1684686482499, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -141.3522217014426, + 999.5703924368966, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -139.8522217014426, + 996.9723162255432, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -138.3522217014426, + 994.3742400141898, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -136.8522217014426, + 991.7761638028364, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -135.3522217014426, + 989.1780875914831, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -133.8522217014426, + 986.5800113801297, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -132.3522217014426, + 983.9819351687763, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -130.8522217014426, + 981.383858957423, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -129.3522217014426, + 978.7857827460696, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -127.8522217014426, + 976.1877065347162, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -126.3522217014426, + 973.5896303233628, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -124.8522217014426, + 970.9915541120095, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -123.3522217014426, + 968.3934779006561, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -121.8522217014426, + 965.7954016893027, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -120.3522217014426, + 963.1973254779493, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -118.8522217014426, + 960.599249266596, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -117.3522217014426, + 958.0011730552426, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -115.8522217014426, + 955.4030968438892, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -114.3522217014426, + 952.8050206325358, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -112.8522217014426, + 950.2069444211825, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -111.3522217014426, + 947.6088682098291, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -109.8522217014426, + 945.0107919984757, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -108.3522217014426, + 942.4127157871224, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -106.8522217014426, + 939.814639575769, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -105.3522217014426, + 937.2165633644156, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -103.8522217014426, + 934.6184871530622, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -102.3522217014426, + 932.0204109417089, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -100.8522217014426, + 929.4223347303555, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -99.3522217014426, + 926.8242585190021, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -97.8522217014426, + 924.2261823076487, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -96.3522217014426, + 921.6281060962954, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -94.8522217014426, + 919.030029884942, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -93.3522217014426, + 916.4319536735886, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -91.8522217014426, + 913.8338774622353, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -90.3522217014426, + 911.2358012508819, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -88.8522217014426, + 908.6377250395285, + 33.528801081039184 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -88.8522217014426, + 908.6377250395285, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -86.25414549008929, + 907.1377250395285, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -83.65606927873597, + 905.6377250395285, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -81.05799306738265, + 904.1377250395285, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -78.45991685602934, + 902.6377250395285, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -75.86184064467602, + 901.1377250395285, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -73.2637644333227, + 899.6377250395285, + 33.528801081039184 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -70.66568822196939, + 898.1377250395285, + 33.528801081039184 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -56.0, + 876.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_7-29-20_1122551742/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_7-29-20_1122551742/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..89bd22ce07a766b111bb45318f976f6bcc7b3664 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_7-29-20_1122551742/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 763.7532815115743, + -1462.029344507468, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 765.2532815115743, + -1459.4312682961147, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 766.7532815115743, + -1456.8331920847613, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 768.2532815115743, + -1454.235115873408, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 769.7532815115743, + -1451.6370396620546, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 771.2532815115743, + -1449.0389634507012, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 772.7532815115743, + -1446.4408872393478, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 774.2532815115743, + -1443.8428110279945, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 775.7532815115743, + -1441.244734816641, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 777.2532815115743, + -1438.6466586052877, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 778.7532815115743, + -1436.0485823939343, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 780.2532815115743, + -1433.450506182581, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 781.7532815115743, + -1430.8524299712276, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 783.2532815115743, + -1428.2543537598742, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 784.7532815115743, + -1425.6562775485208, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 786.2532815115743, + -1423.0582013371675, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 787.7532815115743, + -1420.460125125814, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 789.2532815115743, + -1417.8620489144607, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 790.7532815115743, + -1415.2639727031074, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 792.2532815115743, + -1412.665896491754, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 793.7532815115743, + -1410.0678202804006, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 795.2532815115743, + -1407.4697440690472, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 796.7532815115743, + -1404.8716678576939, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 798.2532815115743, + -1402.2735916463405, + 37.76086799493348 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 798.2532815115743, + -1402.2735916463405, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 798.2532815115743, + -1399.2735916463405, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 798.2532815115743, + -1396.2735916463405, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 798.2532815115743, + -1393.2735916463405, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 798.2532815115743, + -1390.2735916463405, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 798.2532815115743, + -1387.2735916463405, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 798.2532815115743, + -1384.2735916463405, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 798.2532815115743, + -1381.2735916463405, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 798.2532815115743, + -1378.2735916463405, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 798.2532815115743, + -1375.2735916463405, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 798.2532815115743, + -1372.2735916463405, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 798.2532815115743, + -1369.2735916463405, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 798.2532815115743, + -1366.2735916463405, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 798.2532815115743, + -1363.2735916463405, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 798.2532815115743, + -1360.2735916463405, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 798.2532815115743, + -1357.2735916463405, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 798.2532815115743, + -1354.2735916463405, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 798.2532815115743, + -1351.2735916463405, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 798.2532815115743, + -1348.2735916463405, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 798.2532815115743, + -1345.2735916463405, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 798.2532815115743, + -1342.2735916463405, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 798.2532815115743, + -1339.2735916463405, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 798.2532815115743, + -1336.2735916463405, + 37.76086799493348 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 798.2532815115743, + -1336.2735916463405, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 796.7532815115743, + -1333.6755154349871, + 37.76086799493348 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 795.2532815115743, + -1331.0774392236337, + 37.76086799493348 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 800.0, + -1304.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_8-29-0_1718264801/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_8-29-0_1718264801/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5f7ee12db60e64f4a814ebc986ddf91693d3850c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_8-29-0_1718264801/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 255.97564160237837, + 328.4070732617048, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 254.47564160237837, + 325.8089970503515, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 252.97564160237837, + 323.21092083899816, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 251.47564160237837, + 320.61284462764485, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 249.97564160237837, + 318.01476841629153, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 248.47564160237837, + 315.4166922049382, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 246.97564160237837, + 312.8186159935849, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 245.47564160237837, + 310.2205397822316, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 243.97564160237837, + 307.62246357087827, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 242.47564160237837, + 305.02438735952495, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 240.97564160237837, + 302.42631114817164, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 239.47564160237837, + 299.8282349368183, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 237.97564160237837, + 297.230158725465, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 236.47564160237837, + 294.6320825141117, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 234.97564160237837, + 292.03400630275837, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 233.47564160237837, + 289.43593009140506, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 231.97564160237837, + 286.83785388005174, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 230.47564160237837, + 284.2397776686984, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 228.97564160237837, + 281.6417014573451, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 227.47564160237837, + 279.0436252459918, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 225.97564160237837, + 276.4455490346385, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 224.47564160237837, + 273.84747282328516, + 35.793426469701785 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 224.47564160237837, + 273.84747282328516, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 221.87756539102506, + 272.34747282328516, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 219.27948917967174, + 270.84747282328516, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 216.68141296831843, + 269.34747282328516, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 214.0833367569651, + 267.84747282328516, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 211.4852605456118, + 266.34747282328516, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 208.88718433425848, + 264.84747282328516, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 206.28910812290516, + 263.34747282328516, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 203.69103191155185, + 261.84747282328516, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 201.09295570019853, + 260.34747282328516, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 198.4948794888452, + 258.84747282328516, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 195.8968032774919, + 257.34747282328516, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 193.29872706613858, + 255.84747282328516, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 190.70065085478527, + 254.34747282328516, + 35.793426469701785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 188.10257464343195, + 252.84747282328516, + 35.793426469701785 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 148.0, + 208.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_8-8-34_1211721386/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_8-8-34_1211721386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..719e350fd37aef8fa861dbe659f33048811ae815 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_8-8-34_1211721386/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 196.17005061434412, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 199.17005061434412, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 202.17005061434412, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 205.17005061434412, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 208.17005061434412, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 211.17005061434412, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 214.17005061434412, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 217.17005061434412, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 220.17005061434412, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 223.17005061434412, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 226.17005061434412, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 229.17005061434412, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 232.17005061434412, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 235.17005061434412, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 238.17005061434412, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 241.17005061434412, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 244.17005061434412, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 247.17005061434412, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 250.17005061434412, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 253.17005061434412, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 256.1700506143441, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 259.1700506143441, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 262.1700506143441, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 265.1700506143441, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 268.1700506143441, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 271.1700506143441, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 274.1700506143441, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 277.1700506143441, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 280.1700506143441, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 283.1700506143441, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 286.1700506143441, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 289.1700506143441, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 292.1700506143441, + 904.9058272768367, + 36.99136879779178 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 292.1700506143441, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 294.76812682569744, + 906.4058272768367, + 36.99136879779178 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 294.76812682569744, + 906.4058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 297.76812682569744, + 906.4058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 300.76812682569744, + 906.4058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 303.76812682569744, + 906.4058272768367, + 36.99136879779178 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 303.76812682569744, + 906.4058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 306.36620303705075, + 904.9058272768367, + 36.99136879779178 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 306.36620303705075, + 904.9058272768367, + 36.99136879779178 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 306.36620303705075, + 904.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 306.36620303705075, + 901.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 306.36620303705075, + 898.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 306.36620303705075, + 895.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 306.36620303705075, + 892.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 306.36620303705075, + 889.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 306.36620303705075, + 886.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 306.36620303705075, + 883.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 306.36620303705075, + 880.9058272768367, + 36.99136879779178 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 306.36620303705075, + 880.9058272768367, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 307.86620303705075, + 878.3077510654834, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 309.36620303705075, + 875.7096748541301, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 310.86620303705075, + 873.1115986427767, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 312.36620303705075, + 870.5135224314233, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 313.86620303705075, + 867.91544622007, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 315.36620303705075, + 865.3173700087166, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 316.86620303705075, + 862.7192937973632, + 36.99136879779178 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 318.36620303705075, + 860.1212175860098, + 36.99136879779178 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.0, + 848.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-28-3_1551291986/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-28-3_1551291986/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2b8ee966cf05bbd4630cd107f3c7942ab76ec5ec --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-28-3_1551291986/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1786.6621639518708, + 1182.8720743058684, + 38.14217693595528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1788.1621639518708, + 1180.273998094515, + 38.14217693595528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1789.6621639518708, + 1177.6759218831617, + 38.14217693595528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1791.1621639518708, + 1175.0778456718083, + 38.14217693595528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1792.6621639518708, + 1172.479769460455, + 38.14217693595528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1794.1621639518708, + 1169.8816932491015, + 38.14217693595528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1795.6621639518708, + 1167.2836170377482, + 38.14217693595528 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1795.6621639518708, + 1167.2836170377482, + 38.14217693595528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1795.6621639518708, + 1164.2836170377482, + 38.14217693595528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1795.6621639518708, + 1161.2836170377482, + 38.14217693595528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1795.6621639518708, + 1158.2836170377482, + 38.14217693595528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1795.6621639518708, + 1155.2836170377482, + 38.14217693595528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1795.6621639518708, + 1152.2836170377482, + 38.14217693595528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1795.6621639518708, + 1149.2836170377482, + 38.14217693595528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1795.6621639518708, + 1146.2836170377482, + 38.14217693595528 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1795.6621639518708, + 1146.2836170377482, + 38.14217693595528 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1795.6621639518708, + 1146.2836170377482, + 38.14217693595528 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1798.2602401632241, + 1144.7836170377482, + 38.14217693595528 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982989 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1840.0, + 1028.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-35-2_1199420528/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-35-2_1199420528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4590ad5855caba7e97c750dad16c84a988dde5e0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-35-2_1199420528/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -802.3955310720187, + -773.5596322375854, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -800.8955310720187, + -770.9615560262321, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -799.3955310720187, + -768.3634798148787, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -797.8955310720187, + -765.7654036035253, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -796.3955310720187, + -763.167327392172, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -794.8955310720187, + -760.5692511808186, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -793.3955310720187, + -757.9711749694652, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -791.8955310720187, + -755.3730987581118, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -790.3955310720187, + -752.7750225467585, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -788.8955310720187, + -750.1769463354051, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -787.3955310720187, + -747.5788701240517, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -785.8955310720187, + -744.9807939126983, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -784.3955310720187, + -742.382717701345, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -782.8955310720187, + -739.7846414899916, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -781.3955310720187, + -737.1865652786382, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -779.8955310720187, + -734.5884890672849, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -778.3955310720187, + -731.9904128559315, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -776.8955310720187, + -729.3923366445781, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -775.3955310720187, + -726.7942604332247, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -773.8955310720187, + -724.1961842218714, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -772.3955310720187, + -721.598108010518, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -770.8955310720187, + -719.0000317991646, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -769.3955310720187, + -716.4019555878112, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -767.8955310720187, + -713.8038793764579, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -766.3955310720187, + -711.2058031651045, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -764.8955310720187, + -708.6077269537511, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -763.3955310720187, + -706.0096507423978, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -761.8955310720187, + -703.4115745310444, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -760.3955310720187, + -700.813498319691, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -758.8955310720187, + -698.2154221083376, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -757.3955310720187, + -695.6173458969843, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -755.8955310720187, + -693.0192696856309, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -754.3955310720187, + -690.4211934742775, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -752.8955310720187, + -687.8231172629241, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -751.3955310720187, + -685.2250410515708, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -749.8955310720187, + -682.6269648402174, + 30.113260652098642 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -749.8955310720187, + -682.6269648402174, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -749.8955310720187, + -679.6269648402174, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -749.8955310720187, + -676.6269648402174, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -749.8955310720187, + -673.6269648402174, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -749.8955310720187, + -670.6269648402174, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -749.8955310720187, + -667.6269648402174, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -749.8955310720187, + -664.6269648402174, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -749.8955310720187, + -661.6269648402174, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -749.8955310720187, + -658.6269648402174, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -749.8955310720187, + -655.6269648402174, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -749.8955310720187, + -652.6269648402174, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -749.8955310720187, + -649.6269648402174, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -749.8955310720187, + -646.6269648402174, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -749.8955310720187, + -643.6269648402174, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -749.8955310720187, + -640.6269648402174, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -749.8955310720187, + -637.6269648402174, + 30.113260652098642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -749.8955310720187, + -634.6269648402174, + 30.113260652098642 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -740.0, + -608.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-43-54_2145854098/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-43-54_2145854098/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7130bab93897d37873d474698f8a70a4120c928b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-43-54_2145854098/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1751.341232252865, + 166.6349255334713, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1751.341232252865, + 169.6349255334713, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1751.341232252865, + 172.6349255334713, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1751.341232252865, + 175.6349255334713, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1751.341232252865, + 178.6349255334713, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1751.341232252865, + 181.6349255334713, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1751.341232252865, + 184.6349255334713, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1751.341232252865, + 187.6349255334713, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1751.341232252865, + 190.6349255334713, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1751.341232252865, + 193.6349255334713, + 30.81449188729299 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1751.341232252865, + 193.6349255334713, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1752.841232252865, + 196.2330017448246, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1754.341232252865, + 198.83107795617792, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1755.841232252865, + 201.42915416753124, + 30.81449188729299 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1755.841232252865, + 201.42915416753124, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1755.841232252865, + 204.42915416753124, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1755.841232252865, + 207.42915416753124, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1755.841232252865, + 210.42915416753124, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1755.841232252865, + 213.42915416753124, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1755.841232252865, + 216.42915416753124, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1755.841232252865, + 219.42915416753124, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1755.841232252865, + 222.42915416753124, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1755.841232252865, + 225.42915416753124, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1755.841232252865, + 228.42915416753124, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1755.841232252865, + 231.42915416753124, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1755.841232252865, + 234.42915416753124, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1755.841232252865, + 237.42915416753124, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1755.841232252865, + 240.42915416753124, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1755.841232252865, + 243.42915416753124, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1755.841232252865, + 246.42915416753124, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1755.841232252865, + 249.42915416753124, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1755.841232252865, + 252.42915416753124, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1755.841232252865, + 255.42915416753124, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1755.841232252865, + 258.42915416753124, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1755.841232252865, + 261.42915416753124, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1755.841232252865, + 264.42915416753124, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1755.841232252865, + 267.42915416753124, + 30.81449188729299 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1755.841232252865, + 267.42915416753124, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1754.341232252865, + 270.02723037888455, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1752.841232252865, + 272.62530659023787, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1751.341232252865, + 275.2233828015912, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1749.841232252865, + 277.8214590129445, + 30.81449188729299 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1748.341232252865, + 280.4195352242978, + 30.81449188729299 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1744.0, + 328.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-51-4_219994425/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-51-4_219994425/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..973e4479a9e216fba165f03bcb2b769e528ae2d2 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-51-4_219994425/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -832.8080314135736, + -1208.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -832.8080314135736, + -1205.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -832.8080314135736, + -1202.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -832.8080314135736, + -1199.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -832.8080314135736, + -1196.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -832.8080314135736, + -1193.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -832.8080314135736, + -1190.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -832.8080314135736, + -1187.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -832.8080314135736, + -1184.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -832.8080314135736, + -1181.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -832.8080314135736, + -1178.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -832.8080314135736, + -1175.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -832.8080314135736, + -1172.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -832.8080314135736, + -1169.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -832.8080314135736, + -1166.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -832.8080314135736, + -1163.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -832.8080314135736, + -1160.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -832.8080314135736, + -1157.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -832.8080314135736, + -1154.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -832.8080314135736, + -1151.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -832.8080314135736, + -1148.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -832.8080314135736, + -1145.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -832.8080314135736, + -1142.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -832.8080314135736, + -1139.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -832.8080314135736, + -1136.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -832.8080314135736, + -1133.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -832.8080314135736, + -1130.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -832.8080314135736, + -1127.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -832.8080314135736, + -1124.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -832.8080314135736, + -1121.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -832.8080314135736, + -1118.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -832.8080314135736, + -1115.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -832.8080314135736, + -1112.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -832.8080314135736, + -1109.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -832.8080314135736, + -1106.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -832.8080314135736, + -1103.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -832.8080314135736, + -1100.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -832.8080314135736, + -1097.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -832.8080314135736, + -1094.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -832.8080314135736, + -1091.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -832.8080314135736, + -1088.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -832.8080314135736, + -1085.3919025192806, + 31.874921938948134 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -832.8080314135736, + -1085.3919025192806, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -831.3080314135736, + -1082.7938263079272, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -829.8080314135736, + -1080.1957500965739, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -828.3080314135736, + -1077.5976738852205, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -826.8080314135736, + -1074.9995976738671, + 31.874921938948134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -825.3080314135736, + -1072.4015214625138, + 31.874921938948134 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -820.0, + -1032.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-1-39_880944650/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-1-39_880944650/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0fd30ce5d8035c8fdb1f1eb2dc42330c7e28c449 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-1-39_880944650/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1233.831708897539, + 517.3513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1236.4297851088925, + 518.8513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1239.0278613202458, + 520.3513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1241.6259375315992, + 521.8513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1244.2240137429526, + 523.3513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1246.822089954306, + 524.8513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1249.4201661656593, + 526.3513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1252.0182423770127, + 527.8513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1254.616318588366, + 529.3513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1257.2143947997195, + 530.8513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1259.8124710110728, + 532.3513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1262.4105472224262, + 533.8513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1265.0086234337796, + 535.3513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1267.606699645133, + 536.8513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1270.2047758564863, + 538.3513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1272.8028520678397, + 539.8513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1275.400928279193, + 541.3513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1277.9990044905464, + 542.8513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1280.5970807018998, + 544.3513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1283.1951569132532, + 545.8513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1285.7932331246066, + 547.3513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1288.39130933596, + 548.8513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1290.9893855473133, + 550.3513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1293.5874617586667, + 551.8513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1296.18553797002, + 553.3513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1298.7836141813734, + 554.8513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1301.3816903927268, + 556.3513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1303.9797666040802, + 557.8513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1306.5778428154335, + 559.3513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1309.175919026787, + 560.8513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1311.7739952381403, + 562.3513230488124, + 35.65021541684765 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1311.7739952381403, + 562.3513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1314.7739952381403, + 562.3513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1317.7739952381403, + 562.3513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1320.7739952381403, + 562.3513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1323.7739952381403, + 562.3513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1326.7739952381403, + 562.3513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1329.7739952381403, + 562.3513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1332.7739952381403, + 562.3513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1335.7739952381403, + 562.3513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1338.7739952381403, + 562.3513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1341.7739952381403, + 562.3513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1344.7739952381403, + 562.3513230488124, + 35.65021541684765 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1347.7739952381403, + 562.3513230488124, + 35.65021541684765 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1400.0, + 584.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-10-9_1246322141/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-10-9_1246322141/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..231fb1bde16b3e8c87409f2cf20fda4b8420a6e7 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-10-9_1246322141/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 605.0151982240485, + -516.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 605.0151982240485, + -519.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 605.0151982240485, + -522.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 605.0151982240485, + -525.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 605.0151982240485, + -528.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 605.0151982240485, + -531.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 605.0151982240485, + -534.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 605.0151982240485, + -537.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 605.0151982240485, + -540.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 605.0151982240485, + -543.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 605.0151982240485, + -546.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 605.0151982240485, + -549.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 605.0151982240485, + -552.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 605.0151982240485, + -555.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 605.0151982240485, + -558.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 605.0151982240485, + -561.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 605.0151982240485, + -564.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 605.0151982240485, + -567.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 605.0151982240485, + -570.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 605.0151982240485, + -573.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 605.0151982240485, + -576.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 605.0151982240485, + -579.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 605.0151982240485, + -582.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 605.0151982240485, + -585.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 605.0151982240485, + -588.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 605.0151982240485, + -591.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 605.0151982240485, + -594.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 605.0151982240485, + -597.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 605.0151982240485, + -600.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 605.0151982240485, + -603.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 605.0151982240485, + -606.3088389798381, + 39.025846821924475 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 605.0151982240485, + -606.3088389798381, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 603.5151982240485, + -608.9069151911915, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 602.0151982240485, + -611.5049914025449, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 600.5151982240485, + -614.1030676138982, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 599.0151982240485, + -616.7011438252516, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 597.5151982240485, + -619.299220036605, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 596.0151982240485, + -621.8972962479584, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 594.5151982240485, + -624.4953724593117, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 593.0151982240485, + -627.0934486706651, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 591.5151982240485, + -629.6915248820185, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 590.0151982240485, + -632.2896010933719, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 588.5151982240485, + -634.8876773047252, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 587.0151982240485, + -637.4857535160786, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 585.5151982240485, + -640.083829727432, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 584.0151982240485, + -642.6819059387853, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 582.5151982240485, + -645.2799821501387, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 581.0151982240485, + -647.8780583614921, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 579.5151982240485, + -650.4761345728455, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 578.0151982240485, + -653.0742107841988, + 39.025846821924475 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 578.0151982240485, + -653.0742107841988, + 39.025846821924475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 575.4171220126952, + -654.5742107841988, + 39.025846821924475 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914846 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 568.0, + -676.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-17-57_1769972/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-17-57_1769972/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..03b73b07a56471f96faf1ce9f6285a7fcf5d5527 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-17-57_1769972/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1398.442801251781, + 14.773160866847178, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1398.442801251781, + 11.773160866847178, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1398.442801251781, + 8.773160866847178, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1398.442801251781, + 5.773160866847178, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1398.442801251781, + 2.773160866847178, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1398.442801251781, + -0.22683913315282211, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1398.442801251781, + -3.226839133152822, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1398.442801251781, + -6.226839133152822, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1398.442801251781, + -9.226839133152822, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1398.442801251781, + -12.226839133152822, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1398.442801251781, + -15.226839133152822, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1398.442801251781, + -18.226839133152822, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1398.442801251781, + -21.226839133152822, + 37.07805741561613 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1398.442801251781, + -21.226839133152822, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1399.942801251781, + -23.824915344506138, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1401.442801251781, + -26.422991555859454, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1402.942801251781, + -29.02106776721277, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1404.442801251781, + -31.619143978566086, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1405.942801251781, + -34.2172201899194, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1407.442801251781, + -36.81529640127272, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1408.942801251781, + -39.413372612626034, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1410.442801251781, + -42.01144882397935, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1411.942801251781, + -44.609525035332666, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1413.442801251781, + -47.20760124668598, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1414.942801251781, + -49.8056774580393, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1416.442801251781, + -52.403753669392614, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1417.942801251781, + -55.00182988074593, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1419.442801251781, + -57.599906092099246, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1420.942801251781, + -60.19798230345256, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1422.442801251781, + -62.79605851480588, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1423.942801251781, + -65.3941347261592, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1425.442801251781, + -67.99221093751251, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1426.942801251781, + -70.59028714886583, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1428.442801251781, + -73.18836336021914, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1429.942801251781, + -75.78643957157246, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1431.442801251781, + -78.38451578292577, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1432.942801251781, + -80.98259199427909, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1434.442801251781, + -83.5806682056324, + 37.07805741561613 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1434.442801251781, + -83.5806682056324, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1434.442801251781, + -86.5806682056324, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1434.442801251781, + -89.5806682056324, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1434.442801251781, + -92.5806682056324, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1434.442801251781, + -95.5806682056324, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1434.442801251781, + -98.5806682056324, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1434.442801251781, + -101.5806682056324, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1434.442801251781, + -104.5806682056324, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1434.442801251781, + -107.5806682056324, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1434.442801251781, + -110.5806682056324, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1434.442801251781, + -113.5806682056324, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1434.442801251781, + -116.5806682056324, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1434.442801251781, + -119.5806682056324, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1434.442801251781, + -122.5806682056324, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1434.442801251781, + -125.5806682056324, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1434.442801251781, + -128.5806682056324, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1434.442801251781, + -131.5806682056324, + 37.07805741561613 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1434.442801251781, + -134.5806682056324, + 37.07805741561613 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1440.0, + -148.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-19-45_116903580/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-19-45_116903580/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bcccc28bbe4e88b67ddd0c0a9c44c4a858f08ea0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-19-45_116903580/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1462.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1465.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1468.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1471.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1474.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1477.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1480.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1483.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1486.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1489.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1492.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1495.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1498.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1501.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1504.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1507.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1510.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1513.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1516.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1519.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1522.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1525.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1528.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1531.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1534.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1537.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1540.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1540.0726268242333, + -1522.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1542.6707030355867, + -1521.0238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1545.26877924694, + -1519.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1547.8668554582935, + -1518.0238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1550.4649316696468, + -1516.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1553.0630078810002, + -1515.0238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1555.6610840923536, + -1513.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1558.259160303707, + -1512.0238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1560.8572365150603, + -1510.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1563.4553127264137, + -1509.0238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1566.053388937767, + -1507.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1568.6514651491204, + -1506.0238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1571.2495413604738, + -1504.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1573.8476175718272, + -1503.0238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1576.4456937831806, + -1501.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1579.043769994534, + -1500.0238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1581.6418462058873, + -1498.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1584.2399224172407, + -1497.0238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1586.837998628594, + -1495.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1589.4360748399474, + -1494.0238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1592.0341510513008, + -1492.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1594.6322272626542, + -1491.0238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1597.2303034740075, + -1489.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1599.828379685361, + -1488.0238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1602.4264558967143, + -1486.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1605.0245321080677, + -1485.0238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1607.622608319421, + -1483.5238285255625, + 30.657040373218248 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1610.2206845307744, + -1482.0238285255625, + 30.657040373218248 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1628.0, + -1476.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-22-14_1781804171/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-22-14_1781804171/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eb099c2d2df92d59da1c02e3a3fff79702bb2f3c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-22-14_1781804171/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1785.4780740424526, + 269.6791544966791, + 38.32795488706821 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1788.076150253806, + 268.1791544966791, + 38.32795488706821 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1790.6742264651593, + 266.6791544966791, + 38.32795488706821 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1793.2723026765127, + 265.1791544966791, + 38.32795488706821 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1795.870378887866, + 263.6791544966791, + 38.32795488706821 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1798.4684550992195, + 262.1791544966791, + 38.32795488706821 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1798.4684550992195, + 262.1791544966791, + 38.32795488706821 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1799.9684550992195, + 259.58107828532576, + 38.32795488706821 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1801.4684550992195, + 256.98300207397244, + 38.32795488706821 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1928.0, + 160.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-28-48_1357242587/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-28-48_1357242587/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..921e46a77bc1d423dd31bbd31b21340d77d090ad --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-28-48_1357242587/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1023.3779087059626, + -1297.1752168361666, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1021.8779087059626, + -1294.5771406248132, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1020.3779087059626, + -1291.9790644134598, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1018.8779087059626, + -1289.3809882021064, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1017.3779087059626, + -1286.782911990753, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1015.8779087059626, + -1284.1848357793997, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1014.3779087059626, + -1281.5867595680463, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1012.8779087059626, + -1278.988683356693, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1011.3779087059626, + -1276.3906071453396, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1009.8779087059626, + -1273.7925309339862, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1008.3779087059626, + -1271.1944547226328, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1006.8779087059626, + -1268.5963785112795, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1005.3779087059626, + -1265.998302299926, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1003.8779087059626, + -1263.4002260885727, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1002.3779087059626, + -1260.8021498772193, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1000.8779087059626, + -1258.204073665866, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -999.3779087059626, + -1255.6059974545126, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -997.8779087059626, + -1253.0079212431592, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -996.3779087059626, + -1250.4098450318058, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -994.8779087059626, + -1247.8117688204525, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -993.3779087059626, + -1245.213692609099, + 31.059136707669854 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -993.3779087059626, + -1245.213692609099, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -993.3779087059626, + -1242.213692609099, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -993.3779087059626, + -1239.213692609099, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -993.3779087059626, + -1236.213692609099, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -993.3779087059626, + -1233.213692609099, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -993.3779087059626, + -1230.213692609099, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -993.3779087059626, + -1227.213692609099, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -993.3779087059626, + -1224.213692609099, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -993.3779087059626, + -1221.213692609099, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -993.3779087059626, + -1218.213692609099, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -993.3779087059626, + -1215.213692609099, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -993.3779087059626, + -1212.213692609099, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -993.3779087059626, + -1209.213692609099, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -993.3779087059626, + -1206.213692609099, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -993.3779087059626, + -1203.213692609099, + 31.059136707669854 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -993.3779087059626, + -1203.213692609099, + 31.059136707669854 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -993.3779087059626, + -1203.213692609099, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -990.7798324946093, + -1201.713692609099, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -988.1817562832559, + -1200.213692609099, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -985.5836800719026, + -1198.713692609099, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -982.9856038605492, + -1197.213692609099, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -980.3875276491958, + -1195.713692609099, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -977.7894514378424, + -1194.213692609099, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -975.1913752264891, + -1192.713692609099, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -972.5932990151357, + -1191.213692609099, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -969.9952228037823, + -1189.713692609099, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -967.397146592429, + -1188.213692609099, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -964.7990703810756, + -1186.713692609099, + 31.059136707669854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -962.2009941697222, + -1185.213692609099, + 31.059136707669854 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -944.0, + -1156.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-32-37_503984129/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-32-37_503984129/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e883eda1d46f87966e9f6eec20ce4a0f5e007f21 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-32-37_503984129/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 146.35543333387614, + -149.5539233140799, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 143.75735712252282, + -151.0539233140799, + 38.92211642886662 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 143.75735712252282, + -151.0539233140799, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 142.25735712252282, + -153.6519995254332, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 140.75735712252282, + -156.25007573678653, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 139.25735712252282, + -158.84815194813984, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 137.75735712252282, + -161.44622815949316, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 136.25735712252282, + -164.04430437084648, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 134.75735712252282, + -166.6423805821998, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 133.25735712252282, + -169.2404567935531, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 131.75735712252282, + -171.83853300490642, + 38.92211642886662 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 131.75735712252282, + -171.83853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 129.1592809111695, + -173.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 126.56120469981619, + -174.83853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 123.96312848846287, + -176.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 121.36505227710956, + -177.83853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 118.76697606575624, + -179.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 116.16889985440292, + -180.83853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 113.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 113.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 110.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 107.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 104.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 101.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 98.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 95.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 92.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 89.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 86.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 83.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 80.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 77.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 74.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 71.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 68.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 65.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 62.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 59.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 56.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 53.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 50.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 47.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 44.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 41.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 38.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 35.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 32.57082364304961, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 29.570823643049607, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 26.570823643049607, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 23.570823643049607, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 20.570823643049607, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 17.570823643049607, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 14.570823643049607, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 11.570823643049607, + -182.33853300490642, + 38.92211642886662 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 8.570823643049607, + -182.33853300490642, + 38.92211642886662 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -20.0, + -188.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +}