diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-11-13_820697697/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-11-13_820697697/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..832f6af58bcaffdca9d2dfd6529c1ac2688ecefc --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-11-13_820697697/pose.jsonl @@ -0,0 +1,105 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1041.078158521994, + 231.27844082405986, + -5.8902279631668915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1041.078158521994, + 228.27844082405986, + -5.8902279631668915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1041.078158521994, + 225.27844082405986, + -5.8902279631668915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1041.078158521994, + 222.27844082405986, + -5.8902279631668915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1041.078158521994, + 219.27844082405986, + -5.8902279631668915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1041.078158521994, + 216.27844082405986, + -5.8902279631668915 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1041.078158521994, + 213.27844082405986, + -5.8902279631668915 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1048.2760719299317, + 161.26469898223877, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-12-45_1473144500/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-12-45_1473144500/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5a46a47be8c88004e0873ccf26a1d3ccf3377e17 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-12-45_1473144500/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1299.6434636403617, + -285.2907502694182, + -7.230640915035558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1301.1434636403617, + -282.6926740580649, + -7.230640915035558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1302.6434636403617, + -280.09459784671157, + -7.230640915035558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1304.1434636403617, + -277.49652163535825, + -7.230640915035558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1305.6434636403617, + -274.89844542400493, + -7.230640915035558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1307.1434636403617, + -272.3003692126516, + -7.230640915035558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1308.6434636403617, + -269.7022930012983, + -7.230640915035558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1310.1434636403617, + -267.104216789945, + -7.230640915035558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1311.6434636403617, + -264.50614057859167, + -7.230640915035558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1313.1434636403617, + -261.90806436723835, + -7.230640915035558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1314.6434636403617, + -259.30998815588504, + -7.230640915035558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1316.1434636403617, + -256.7119119445317, + -7.230640915035558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1317.6434636403617, + -254.1138357331784, + -7.230640915035558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1319.1434636403617, + -251.5157595218251, + -7.230640915035558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1320.6434636403617, + -248.91768331047177, + -7.230640915035558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1322.1434636403617, + -246.31960709911846, + -7.230640915035558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1323.6434636403617, + -243.72153088776514, + -7.230640915035558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1325.1434636403617, + -241.12345467641182, + -7.230640915035558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1326.6434636403617, + -238.5253784650585, + -7.230640915035558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1328.1434636403617, + -235.9273022537052, + -7.230640915035558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1329.6434636403617, + -233.32922604235188, + -7.230640915035558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1331.1434636403617, + -230.73114983099856, + -7.230640915035558 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1332.318264770508, + -228.70366058349612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-15-59_1455590964/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-15-59_1455590964/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..989edbfaede180f7c68a7333a461e842d3d1d49e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-15-59_1455590964/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 474.4682396520702, + -441.10013597486744, + -8.696100723876487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 472.9682396520702, + -443.69821218622076, + -8.696100723876487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 471.4682396520702, + -446.2962883975741, + -8.696100723876487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 469.9682396520702, + -448.8943646089274, + -8.696100723876487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 468.4682396520702, + -451.4924408202807, + -8.696100723876487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 466.9682396520702, + -454.090517031634, + -8.696100723876487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 465.4682396520702, + -456.68859324298734, + -8.696100723876487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 463.9682396520702, + -459.28666945434065, + -8.696100723876487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 462.4682396520702, + -461.88474566569397, + -8.696100723876487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 460.9682396520702, + -464.4828218770473, + -8.696100723876487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 459.4682396520702, + -467.0808980884006, + -8.696100723876487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 457.9682396520702, + -469.6789742997539, + -8.696100723876487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 456.4682396520702, + -472.27705051110723, + -8.696100723876487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 454.9682396520702, + -474.87512672246055, + -8.696100723876487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 453.4682396520702, + -477.47320293381387, + -8.696100723876487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 451.9682396520702, + -480.0712791451672, + -8.696100723876487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 450.4682396520702, + -482.6693553565205, + -8.696100723876487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 448.9682396520702, + -485.2674315678738, + -8.696100723876487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 447.4682396520702, + -487.86550777922713, + -8.696100723876487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 445.9682396520702, + -490.46358399058045, + -8.696100723876487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 444.4682396520702, + -493.06166020193376, + -8.696100723876487 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 442.9682396520702, + -495.6597364132871, + -8.696100723876487 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 442.9682396520702, + -495.6597364132871, + -8.696100723876487 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 442.9682396520702, + -495.6597364132871, + -8.696100723876487 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 444.4682396520702, + -498.2578126246404, + -8.696100723876487 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 443.92731246948244, + -500.4978652954102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-20-2_1887658390/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-20-2_1887658390/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a9b80c970f372c41ffa5dc7ae31f93404b9356f1 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-20-2_1887658390/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 713.4875574219666, + 31.330931341846888, + -9.696945771230805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 714.9875574219666, + 28.732855130493572, + -9.696945771230805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 716.4875574219666, + 26.134778919140256, + -9.696945771230805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 717.9875574219666, + 23.53670270778694, + -9.696945771230805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 719.4875574219666, + 20.938626496433624, + -9.696945771230805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 720.9875574219666, + 18.340550285080308, + -9.696945771230805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 722.4875574219666, + 15.742474073726992, + -9.696945771230805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 723.9875574219666, + 13.144397862373676, + -9.696945771230805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 725.4875574219666, + 10.54632165102036, + -9.696945771230805 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 725.4875574219666, + 10.54632165102036, + -9.696945771230805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 725.4875574219666, + 7.54632165102036, + -9.696945771230805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 725.4875574219666, + 4.54632165102036, + -9.696945771230805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 725.4875574219666, + 1.5463216510203601, + -9.696945771230805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 725.4875574219666, + -1.4536783489796399, + -9.696945771230805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 725.4875574219666, + -4.45367834897964, + -9.696945771230805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 725.4875574219666, + -7.45367834897964, + -9.696945771230805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 725.4875574219666, + -10.45367834897964, + -9.696945771230805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 725.4875574219666, + -13.45367834897964, + -9.696945771230805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 725.4875574219666, + -16.45367834897964, + -9.696945771230805 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 727.4186401367188, + -18.7204083442688, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-34-49_1541027284/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-34-49_1541027284/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3db9489f6448497a8550c6f7217685cf76df9fc9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-34-49_1541027284/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 660.6182784137557, + -12.1345979927859, + -8.447945217307371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 663.6182784137557, + -12.1345979927859, + -8.447945217307371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 666.6182784137557, + -12.1345979927859, + -8.447945217307371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 669.6182784137557, + -12.1345979927859, + -8.447945217307371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 672.6182784137557, + -12.1345979927859, + -8.447945217307371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 675.6182784137557, + -12.1345979927859, + -8.447945217307371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 678.6182784137557, + -12.1345979927859, + -8.447945217307371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 681.6182784137557, + -12.1345979927859, + -8.447945217307371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 684.6182784137557, + -12.1345979927859, + -8.447945217307371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 687.6182784137557, + -12.1345979927859, + -8.447945217307371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 690.6182784137557, + -12.1345979927859, + -8.447945217307371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 693.6182784137557, + -12.1345979927859, + -8.447945217307371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 696.6182784137557, + -12.1345979927859, + -8.447945217307371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 699.6182784137557, + -12.1345979927859, + -8.447945217307371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 702.6182784137557, + -12.1345979927859, + -8.447945217307371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 705.6182784137557, + -12.1345979927859, + -8.447945217307371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 708.6182784137557, + -12.1345979927859, + -8.447945217307371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 711.6182784137557, + -12.1345979927859, + -8.447945217307371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 714.6182784137557, + -12.1345979927859, + -8.447945217307371 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 714.6182784137557, + -12.1345979927859, + -8.447945217307371 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 717.216354625109, + -13.6345979927859, + -8.447945217307371 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 719.8144308364624, + -15.1345979927859, + -8.447945217307371 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 722.4125070478158, + -16.6345979927859, + -8.447945217307371 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 725.0105832591692, + -18.1345979927859, + -8.447945217307371 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 727.4186401367188, + -18.7204083442688, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-37-55_1584710873/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-37-55_1584710873/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..85b7c3a6bcb40f3a98c8e0748d834e40880a47cc --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-37-55_1584710873/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 758.4312698825571, + -405.2201009487213, + -1.947691716659424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 761.4312698825571, + -405.2201009487213, + -1.947691716659424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 764.4312698825571, + -405.2201009487213, + -1.947691716659424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 767.4312698825571, + -405.2201009487213, + -1.947691716659424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 770.4312698825571, + -405.2201009487213, + -1.947691716659424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 773.4312698825571, + -405.2201009487213, + -1.947691716659424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 776.4312698825571, + -405.2201009487213, + -1.947691716659424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 779.4312698825571, + -405.2201009487213, + -1.947691716659424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 782.4312698825571, + -405.2201009487213, + -1.947691716659424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 785.4312698825571, + -405.2201009487213, + -1.947691716659424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 788.4312698825571, + -405.2201009487213, + -1.947691716659424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 791.4312698825571, + -405.2201009487213, + -1.947691716659424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 794.4312698825571, + -405.2201009487213, + -1.947691716659424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 797.4312698825571, + -405.2201009487213, + -1.947691716659424 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 797.4312698825571, + -405.2201009487213, + -1.947691716659424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 800.0293460939104, + -406.7201009487213, + -1.947691716659424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 802.6274223052637, + -408.2201009487213, + -1.947691716659424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 805.2254985166171, + -409.7201009487213, + -1.947691716659424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 807.8235747279705, + -411.2201009487213, + -1.947691716659424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 810.4216509393239, + -412.7201009487213, + -1.947691716659424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 813.0197271506772, + -414.2201009487213, + -1.947691716659424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 815.6178033620306, + -415.7201009487213, + -1.947691716659424 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 833.5786102294923, + -416.10598869323735, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-38-18_941804289/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-38-18_941804289/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5150041e55d2961c8dfee82fb765398d7567a16c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-38-18_941804289/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 564.1847186703945, + 341.1510272306602, + -4.0339876980518605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 567.1847186703945, + 341.1510272306602, + -4.0339876980518605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 570.1847186703945, + 341.1510272306602, + -4.0339876980518605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 573.1847186703945, + 341.1510272306602, + -4.0339876980518605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 576.1847186703945, + 341.1510272306602, + -4.0339876980518605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 579.1847186703945, + 341.1510272306602, + -4.0339876980518605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 582.1847186703945, + 341.1510272306602, + -4.0339876980518605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 585.1847186703945, + 341.1510272306602, + -4.0339876980518605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 588.1847186703945, + 341.1510272306602, + -4.0339876980518605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 591.1847186703945, + 341.1510272306602, + -4.0339876980518605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 594.1847186703945, + 341.1510272306602, + -4.0339876980518605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 597.1847186703945, + 341.1510272306602, + -4.0339876980518605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 600.1847186703945, + 341.1510272306602, + -4.0339876980518605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 603.1847186703945, + 341.1510272306602, + -4.0339876980518605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 606.1847186703945, + 341.1510272306602, + -4.0339876980518605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 609.1847186703945, + 341.1510272306602, + -4.0339876980518605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 612.1847186703945, + 341.1510272306602, + -4.0339876980518605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 615.1847186703945, + 341.1510272306602, + -4.0339876980518605 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 615.1847186703945, + 341.1510272306602, + -4.0339876980518605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 617.7827948817478, + 339.6510272306602, + -4.0339876980518605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 620.3808710931012, + 338.1510272306602, + -4.0339876980518605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 622.9789473044546, + 336.6510272306602, + -4.0339876980518605 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 625.5770235158079, + 335.1510272306602, + -4.0339876980518605 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 628.2089225769043, + 334.6269786834717, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-45-16_1302539390/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-45-16_1302539390/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..439b322ef1fdea304a3026d22246731667e58a6a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-45-16_1302539390/pose.jsonl @@ -0,0 +1,92 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 293.6484815961408, + -147.87799623598156, + -7.2901882977804355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 293.6484815961408, + -144.87799623598156, + -7.2901882977804355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 293.6484815961408, + -141.87799623598156, + -7.2901882977804355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 293.6484815961408, + -138.87799623598156, + -7.2901882977804355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 293.6484815961408, + -135.87799623598156, + -7.2901882977804355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 293.6484815961408, + -132.87799623598156, + -7.2901882977804355 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 283.9780300140381, + -80.94869422912598, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-51-20_2073785404/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-51-20_2073785404/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a794a6982d8587f56ddeb098fa6d051c1a646703 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-51-20_2073785404/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -158.42619283079054, + -595.2830524838491, + -8.431937914354979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -156.92619283079054, + -597.8811286952025, + -8.431937914354979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -155.42619283079054, + -600.4792049065559, + -8.431937914354979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -153.92619283079054, + -603.0772811179093, + -8.431937914354979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -152.42619283079054, + -605.6753573292626, + -8.431937914354979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -150.92619283079054, + -608.273433540616, + -8.431937914354979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -149.42619283079054, + -610.8715097519694, + -8.431937914354979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -147.92619283079054, + -613.4695859633227, + -8.431937914354979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -146.42619283079054, + -616.0676621746761, + -8.431937914354979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -144.92619283079054, + -618.6657383860295, + -8.431937914354979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -143.42619283079054, + -621.2638145973829, + -8.431937914354979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -141.92619283079054, + -623.8618908087362, + -8.431937914354979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -140.42619283079054, + -626.4599670200896, + -8.431937914354979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -138.92619283079054, + -629.058043231443, + -8.431937914354979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -137.42619283079054, + -631.6561194427964, + -8.431937914354979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -135.92619283079054, + -634.2541956541497, + -8.431937914354979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -134.42619283079054, + -636.8522718655031, + -8.431937914354979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -132.92619283079054, + -639.4503480768565, + -8.431937914354979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -131.42619283079054, + -642.0484242882098, + -8.431937914354979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -129.92619283079054, + -644.6465004995632, + -8.431937914354979 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.48518104553224, + -646.8201499938965, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-56-43_257675105/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-56-43_257675105/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6e3b50071a0cc504aacfebe3b571eacea5e5e02e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-56-43_257675105/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1622.5683363270086, + -111.8887443157074, + -1.0532918438748524 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1619.5683363270086, + -111.8887443157074, + -1.0532918438748524 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1616.5683363270086, + -111.8887443157074, + -1.0532918438748524 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1613.5683363270086, + -111.8887443157074, + -1.0532918438748524 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1610.5683363270086, + -111.8887443157074, + -1.0532918438748524 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1607.5683363270086, + -111.8887443157074, + -1.0532918438748524 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1604.5683363270086, + -111.8887443157074, + -1.0532918438748524 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1601.5683363270086, + -111.8887443157074, + -1.0532918438748524 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1598.5683363270086, + -111.8887443157074, + -1.0532918438748524 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1595.5683363270086, + -111.8887443157074, + -1.0532918438748524 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1592.5683363270086, + -111.8887443157074, + -1.0532918438748524 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1589.5683363270086, + -111.8887443157074, + -1.0532918438748524 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1586.5683363270086, + -111.8887443157074, + -1.0532918438748524 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1583.5683363270086, + -111.8887443157074, + -1.0532918438748524 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1583.5683363270086, + -111.8887443157074, + -1.0532918438748524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1580.9702601156553, + -110.3887443157074, + -1.0532918438748524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1578.372183904302, + -108.8887443157074, + -1.0532918438748524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1575.7741076929485, + -107.3887443157074, + -1.0532918438748524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1573.1760314815951, + -105.8887443157074, + -1.0532918438748524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1570.5779552702418, + -104.3887443157074, + -1.0532918438748524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1567.9798790588884, + -102.8887443157074, + -1.0532918438748524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1565.381802847535, + -101.3887443157074, + -1.0532918438748524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1562.7837266361817, + -99.8887443157074, + -1.0532918438748524 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1560.1856504248283, + -98.3887443157074, + -1.0532918438748524 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1559.5110931396484, + -96.07600393295289, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-56-56_991810563/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-56-56_991810563/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8ff087cdc4e31c14bc5f57d47c697fe5246facd5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-56-56_991810563/pose.jsonl @@ -0,0 +1,209 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1497.1946965797795, + -104.33357475064, + -0.14232543889371385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1498.6946965797795, + -101.73549853928668, + -0.14232543889371385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1500.1946965797795, + -99.13742232793336, + -0.14232543889371385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1501.6946965797795, + -96.53934611658005, + -0.14232543889371385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1503.1946965797795, + -93.94126990522673, + -0.14232543889371385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1504.6946965797795, + -91.34319369387342, + -0.14232543889371385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1506.1946965797795, + -88.7451174825201, + -0.14232543889371385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1507.6946965797795, + -86.14704127116678, + -0.14232543889371385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1509.1946965797795, + -83.54896505981347, + -0.14232543889371385 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1509.1946965797795, + -83.54896505981347, + -0.14232543889371385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1509.1946965797795, + -80.54896505981347, + -0.14232543889371385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1509.1946965797795, + -77.54896505981347, + -0.14232543889371385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1509.1946965797795, + -74.54896505981347, + -0.14232543889371385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1509.1946965797795, + -71.54896505981347, + -0.14232543889371385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1509.1946965797795, + -68.54896505981347, + -0.14232543889371385 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-7-23_425245975/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-7-23_425245975/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4b57a89928abec2f7d2ec40d35606d61254dff71 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_14-7-23_425245975/pose.jsonl @@ -0,0 +1,157 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 531.3893423957269, + -252.84297712446084, + -0.7428255517438362 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 528.7912661843736, + -251.34297712446084, + -0.7428255517438362 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 526.1931899730203, + -249.84297712446084, + -0.7428255517438362 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 523.5951137616669, + -248.34297712446084, + -0.7428255517438362 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 520.9970375503135, + -246.84297712446084, + -0.7428255517438362 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 518.3989613389601, + -245.34297712446084, + -0.7428255517438362 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 515.8008851276068, + -243.84297712446084, + -0.7428255517438362 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 513.2028089162534, + -242.34297712446084, + -0.7428255517438362 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 510.6047327049001, + -240.84297712446084, + -0.7428255517438362 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 508.00665649354676, + -239.34297712446084, + -0.7428255517438362 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 505.40858028219344, + -237.84297712446084, + -0.7428255517438362 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 485.3397609710694, + -231.23137340545657, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-0-25_765326717/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-0-25_765326717/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b97fc1033b6c804459ad285ee7e21c389442b15e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-0-25_765326717/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 84.53172598837563, + 2.2659144596647494, + -4.352055094077933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 86.03172598837563, + 4.863990671018065, + -4.352055094077933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 87.53172598837563, + 7.462066882371381, + -4.352055094077933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 89.03172598837563, + 10.060143093724697, + -4.352055094077933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 90.53172598837563, + 12.658219305078013, + -4.352055094077933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 92.03172598837563, + 15.25629551643133, + -4.352055094077933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 93.53172598837563, + 17.854371727784645, + -4.352055094077933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 95.03172598837563, + 20.45244793913796, + -4.352055094077933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 96.53172598837563, + 23.050524150491277, + -4.352055094077933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 98.03172598837563, + 25.648600361844593, + -4.352055094077933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 99.53172598837563, + 28.24667657319791, + -4.352055094077933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 101.03172598837563, + 30.844752784551225, + -4.352055094077933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 102.53172598837563, + 33.44282899590454, + -4.352055094077933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 104.03172598837563, + 36.04090520725786, + -4.352055094077933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 105.53172598837563, + 38.63898141861117, + -4.352055094077933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 107.03172598837563, + 41.23705762996449, + -4.352055094077933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 108.53172598837563, + 43.835133841317806, + -4.352055094077933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 110.03172598837563, + 46.43321005267112, + -4.352055094077933 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 110.03172598837563, + 46.43321005267112, + -4.352055094077933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 110.03172598837563, + 49.43321005267112, + -4.352055094077933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 110.03172598837563, + 52.43321005267112, + -4.352055094077933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 110.03172598837563, + 55.43321005267112, + -4.352055094077933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 110.03172598837563, + 58.43321005267112, + -4.352055094077933 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-1-10_431530126/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-1-10_431530126/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..85a6c1ee31db92f6c22a09bda73cd67780e7f424 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-1-10_431530126/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 394.59665438102314, + -135.47564792381445, + -1.8492945767584086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 391.59665438102314, + -135.47564792381445, + -1.8492945767584086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 388.59665438102314, + -135.47564792381445, + -1.8492945767584086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 385.59665438102314, + -135.47564792381445, + -1.8492945767584086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 382.59665438102314, + -135.47564792381445, + -1.8492945767584086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 379.59665438102314, + -135.47564792381445, + -1.8492945767584086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 376.59665438102314, + -135.47564792381445, + -1.8492945767584086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 373.59665438102314, + -135.47564792381445, + -1.8492945767584086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 370.59665438102314, + -135.47564792381445, + -1.8492945767584086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 367.59665438102314, + -135.47564792381445, + -1.8492945767584086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 364.59665438102314, + -135.47564792381445, + -1.8492945767584086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 361.59665438102314, + -135.47564792381445, + -1.8492945767584086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 358.59665438102314, + -135.47564792381445, + -1.8492945767584086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 355.59665438102314, + -135.47564792381445, + -1.8492945767584086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 352.59665438102314, + -135.47564792381445, + -1.8492945767584086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 349.59665438102314, + -135.47564792381445, + -1.8492945767584086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 346.59665438102314, + -135.47564792381445, + -1.8492945767584086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 343.59665438102314, + -135.47564792381445, + -1.8492945767584086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 340.59665438102314, + -135.47564792381445, + -1.8492945767584086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 337.59665438102314, + -135.47564792381445, + -1.8492945767584086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 334.59665438102314, + -135.47564792381445, + -1.8492945767584086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 331.59665438102314, + -135.47564792381445, + -1.8492945767584086 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.9684103012085, + -137.41820926666261, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-10-1_567304789/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-10-1_567304789/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4d9bf6a5d4e43d9992e1f2f1525a425492195f65 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-10-1_567304789/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 36.83889673012276, + -338.3909975644708, + -0.9279447963134135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 34.240820518769446, + -339.8909975644708, + -0.9279447963134135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 31.64274430741613, + -341.3909975644708, + -0.9279447963134135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 29.044668096062814, + -342.8909975644708, + -0.9279447963134135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 26.4465918847095, + -344.3909975644708, + -0.9279447963134135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 23.848515673356182, + -345.8909975644708, + -0.9279447963134135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 21.250439462002866, + -347.3909975644708, + -0.9279447963134135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 18.65236325064955, + -348.8909975644708, + -0.9279447963134135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 16.054287039296234, + -350.3909975644708, + -0.9279447963134135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 13.456210827942918, + -351.8909975644708, + -0.9279447963134135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 10.858134616589602, + -353.3909975644708, + -0.9279447963134135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 8.260058405236286, + -354.8909975644708, + -0.9279447963134135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 5.66198219388297, + -356.3909975644708, + -0.9279447963134135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3.063905982529654, + -357.8909975644708, + -0.9279447963134135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 0.46582977117633817, + -359.3909975644708, + -0.9279447963134135 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 0.46582977117633817, + -359.3909975644708, + -0.9279447963134135 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2.534170228823662, + -359.3909975644708, + -0.9279447963134135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -5.534170228823662, + -359.3909975644708, + -0.9279447963134135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -8.534170228823662, + -359.3909975644708, + -0.9279447963134135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -11.534170228823662, + -359.3909975644708, + -0.9279447963134135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -14.534170228823662, + -359.3909975644708, + -0.9279447963134135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -17.534170228823662, + -359.3909975644708, + -0.9279447963134135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -20.534170228823662, + -359.3909975644708, + -0.9279447963134135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -23.534170228823662, + -359.3909975644708, + -0.9279447963134135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -26.534170228823662, + -359.3909975644708, + -0.9279447963134135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -29.534170228823662, + -359.3909975644708, + -0.9279447963134135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -32.53417022882366, + -359.3909975644708, + -0.9279447963134135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -35.53417022882366, + -359.3909975644708, + -0.9279447963134135 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-14-27_1814887560/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-14-27_1814887560/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..212deeec2c3b0e743209cc382f29190d225094eb --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-14-27_1814887560/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1582.6062287429793, + -159.23328339532333, + -7.504166857175386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1581.1062287429793, + -156.63520718397, + -7.504166857175386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1579.6062287429793, + -154.0371309726167, + -7.504166857175386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1578.1062287429793, + -151.43905476126338, + -7.504166857175386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1576.6062287429793, + -148.84097854991006, + -7.504166857175386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1575.1062287429793, + -146.24290233855675, + -7.504166857175386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1573.6062287429793, + -143.64482612720343, + -7.504166857175386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1572.1062287429793, + -141.0467499158501, + -7.504166857175386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1570.6062287429793, + -138.4486737044968, + -7.504166857175386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1569.1062287429793, + -135.85059749314348, + -7.504166857175386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1567.6062287429793, + -133.25252128179017, + -7.504166857175386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1566.1062287429793, + -130.65444507043685, + -7.504166857175386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1564.6062287429793, + -128.05636885908353, + -7.504166857175386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1563.1062287429793, + -125.45829264773022, + -7.504166857175386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1561.6062287429793, + -122.8602164363769, + -7.504166857175386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1560.1062287429793, + -120.26214022502359, + -7.504166857175386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1558.6062287429793, + -117.66406401367027, + -7.504166857175386 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1558.6062287429793, + -117.66406401367027, + -7.504166857175386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1558.6062287429793, + -114.66406401367027, + -7.504166857175386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1558.6062287429793, + -111.66406401367027, + -7.504166857175386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1558.6062287429793, + -108.66406401367027, + -7.504166857175386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1558.6062287429793, + -105.66406401367027, + -7.504166857175386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1558.6062287429793, + -102.66406401367027, + -7.504166857175386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1558.6062287429793, + -99.66406401367027, + -7.504166857175386 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1559.5110931396484, + -96.07600393295289, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-27-36_2106914653/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-27-36_2106914653/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eec7d646a1ead9a3d30b09b090584319ac5d6177 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-27-36_2106914653/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1210.509455225659, + -209.42953071501236, + -2.125543467253557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1207.509455225659, + -209.42953071501236, + -2.125543467253557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1204.509455225659, + -209.42953071501236, + -2.125543467253557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1201.509455225659, + -209.42953071501236, + -2.125543467253557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1198.509455225659, + -209.42953071501236, + -2.125543467253557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1195.509455225659, + -209.42953071501236, + -2.125543467253557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1192.509455225659, + -209.42953071501236, + -2.125543467253557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1189.509455225659, + -209.42953071501236, + -2.125543467253557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1186.509455225659, + -209.42953071501236, + -2.125543467253557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1183.509455225659, + -209.42953071501236, + -2.125543467253557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1180.509455225659, + -209.42953071501236, + -2.125543467253557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1177.509455225659, + -209.42953071501236, + -2.125543467253557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1174.509455225659, + -209.42953071501236, + -2.125543467253557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1171.509455225659, + -209.42953071501236, + -2.125543467253557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1168.509455225659, + -209.42953071501236, + -2.125543467253557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1165.509455225659, + -209.42953071501236, + -2.125543467253557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1162.509455225659, + -209.42953071501236, + -2.125543467253557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1159.509455225659, + -209.42953071501236, + -2.125543467253557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1156.509455225659, + -209.42953071501236, + -2.125543467253557 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1153.509455225659, + -209.42953071501236, + -2.125543467253557 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0676353454592, + -208.6565689086914, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-37-46_833215350/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-37-46_833215350/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bf99b0f5a861f62d2fe7fd384a78e26f8ee3ed2b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-37-46_833215350/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 357.08574323461664, + 313.5204374241291, + -8.492116703264175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 355.58574323461664, + 310.9223612127758, + -8.492116703264175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 354.08574323461664, + 308.3242850014225, + -8.492116703264175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 352.58574323461664, + 305.72620879006917, + -8.492116703264175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 351.08574323461664, + 303.12813257871585, + -8.492116703264175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 349.58574323461664, + 300.53005636736253, + -8.492116703264175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 348.08574323461664, + 297.9319801560092, + -8.492116703264175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 346.58574323461664, + 295.3339039446559, + -8.492116703264175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 345.08574323461664, + 292.7358277333026, + -8.492116703264175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 343.58574323461664, + 290.13775152194927, + -8.492116703264175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 342.08574323461664, + 287.53967531059595, + -8.492116703264175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 340.58574323461664, + 284.94159909924264, + -8.492116703264175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 339.08574323461664, + 282.3435228878893, + -8.492116703264175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 337.58574323461664, + 279.745446676536, + -8.492116703264175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 336.08574323461664, + 277.1473704651827, + -8.492116703264175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 334.58574323461664, + 274.5492942538294, + -8.492116703264175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 333.08574323461664, + 271.95121804247606, + -8.492116703264175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 331.58574323461664, + 269.35314183112274, + -8.492116703264175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 330.08574323461664, + 266.7550656197694, + -8.492116703264175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 328.58574323461664, + 264.1569894084161, + -8.492116703264175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 327.08574323461664, + 261.5589131970628, + -8.492116703264175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 325.58574323461664, + 258.9608369857095, + -8.492116703264175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 324.08574323461664, + 256.36276077435616, + -8.492116703264175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 322.58574323461664, + 253.76468456300285, + -8.492116703264175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 321.08574323461664, + 251.16660835164953, + -8.492116703264175 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-40-35_1735079296/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-40-35_1735079296/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..caa803dbba182e42dedea3e14838d8677a791f36 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-40-35_1735079296/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 309.66782166606833, + -287.91263791607753, + -7.530272093710156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 308.16782166606833, + -290.51071412743084, + -7.530272093710156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 306.66782166606833, + -293.10879033878416, + -7.530272093710156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 305.16782166606833, + -295.7068665501375, + -7.530272093710156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 303.66782166606833, + -298.3049427614908, + -7.530272093710156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 302.16782166606833, + -300.9030189728441, + -7.530272093710156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 300.66782166606833, + -303.5010951841974, + -7.530272093710156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 299.16782166606833, + -306.09917139555074, + -7.530272093710156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 297.66782166606833, + -308.69724760690406, + -7.530272093710156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 296.16782166606833, + -311.2953238182574, + -7.530272093710156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 294.66782166606833, + -313.8934000296107, + -7.530272093710156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 293.16782166606833, + -316.491476240964, + -7.530272093710156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 291.66782166606833, + -319.0895524523173, + -7.530272093710156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 290.16782166606833, + -321.68762866367064, + -7.530272093710156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 288.66782166606833, + -324.28570487502395, + -7.530272093710156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 287.16782166606833, + -326.88378108637727, + -7.530272093710156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 285.66782166606833, + -329.4818572977306, + -7.530272093710156 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 285.66782166606833, + -329.4818572977306, + -7.530272093710156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 285.66782166606833, + -332.4818572977306, + -7.530272093710156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 285.66782166606833, + -335.4818572977306, + -7.530272093710156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 285.66782166606833, + -338.4818572977306, + -7.530272093710156 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 284.2394945144654, + -340.45848770141606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-42-48_1242990415/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-42-48_1242990415/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a334eb9f609c8942fc519d7aca8edce644c3dc69 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-42-48_1242990415/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -56.3999743571632, + -112.64432939885114, + -6.008457068823237 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -59.3999743571632, + -112.64432939885114, + -6.008457068823237 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -62.3999743571632, + -112.64432939885114, + -6.008457068823237 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -65.3999743571632, + -112.64432939885114, + -6.008457068823237 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -68.3999743571632, + -112.64432939885114, + -6.008457068823237 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -71.3999743571632, + -112.64432939885114, + -6.008457068823237 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -74.3999743571632, + -112.64432939885114, + -6.008457068823237 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -77.3999743571632, + -112.64432939885114, + -6.008457068823237 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -80.3999743571632, + -112.64432939885114, + -6.008457068823237 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -83.3999743571632, + -112.64432939885114, + -6.008457068823237 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -86.3999743571632, + -112.64432939885114, + -6.008457068823237 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -89.3999743571632, + -112.64432939885114, + -6.008457068823237 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -92.3999743571632, + -112.64432939885114, + -6.008457068823237 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -95.3999743571632, + -112.64432939885114, + -6.008457068823237 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -98.3999743571632, + -112.64432939885114, + -6.008457068823237 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -101.3999743571632, + -112.64432939885114, + -6.008457068823237 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -104.3999743571632, + -112.64432939885114, + -6.008457068823237 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -107.3999743571632, + -112.64432939885114, + -6.008457068823237 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -110.3999743571632, + -112.64432939885114, + -6.008457068823237 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -113.3999743571632, + -112.64432939885114, + -6.008457068823237 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -113.3999743571632, + -112.64432939885114, + -6.008457068823237 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -115.99805056851652, + -114.14432939885114, + -6.008457068823237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -118.59612677986983, + -115.64432939885114, + -6.008457068823237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -121.19420299122315, + -117.14432939885114, + -6.008457068823237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -123.79227920257647, + -118.64432939885114, + -6.008457068823237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -126.39035541392978, + -120.14432939885114, + -6.008457068823237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -128.9884316252831, + -121.64432939885114, + -6.008457068823237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -131.58650783663643, + -123.14432939885114, + -6.008457068823237 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-50-44_61101360/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-50-44_61101360/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..30c94502ee26ab9ab944d832072fbf41671063a6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-50-44_61101360/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 41.50706254009104, + 84.67920979806047, + -8.259234116150845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 44.50706254009104, + 84.67920979806047, + -8.259234116150845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 47.50706254009104, + 84.67920979806047, + -8.259234116150845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 50.50706254009104, + 84.67920979806047, + -8.259234116150845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 53.50706254009104, + 84.67920979806047, + -8.259234116150845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 56.50706254009104, + 84.67920979806047, + -8.259234116150845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 59.50706254009104, + 84.67920979806047, + -8.259234116150845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 62.50706254009104, + 84.67920979806047, + -8.259234116150845 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 65.50706254009104, + 84.67920979806047, + -8.259234116150845 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 65.50706254009104, + 84.67920979806047, + -8.259234116150845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 68.10513875144436, + 83.17920979806047, + -8.259234116150845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 70.70321496279767, + 81.67920979806047, + -8.259234116150845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 73.30129117415099, + 80.17920979806047, + -8.259234116150845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 75.8993673855043, + 78.67920979806047, + -8.259234116150845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 78.49744359685762, + 77.17920979806047, + -8.259234116150845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 81.09551980821094, + 75.67920979806047, + -8.259234116150845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 83.69359601956425, + 74.17920979806047, + -8.259234116150845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 86.29167223091757, + 72.67920979806047, + -8.259234116150845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 88.88974844227089, + 71.17920979806047, + -8.259234116150845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 91.4878246536242, + 69.67920979806047, + -8.259234116150845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 94.08590086497752, + 68.17920979806047, + -8.259234116150845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 96.68397707633083, + 66.67920979806047, + -8.259234116150845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 99.28205328768415, + 65.17920979806047, + -8.259234116150845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 101.88012949903747, + 63.67920979806047, + -8.259234116150845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 104.47820571039078, + 62.17920979806047, + -8.259234116150845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 107.0762819217441, + 60.67920979806047, + -8.259234116150845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 109.67435813309741, + 59.17920979806047, + -8.259234116150845 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-53-26_1390543437/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-53-26_1390543437/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7846a0251bf4bb0f6d97272c192f956e9e3dbdde --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-53-26_1390543437/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 131.8407114310658, + -731.3243820470152, + -7.307056799635377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 129.2426352197125, + -729.8243820470152, + -7.307056799635377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 126.64455900835918, + -728.3243820470152, + -7.307056799635377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 124.04648279700586, + -726.8243820470152, + -7.307056799635377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 121.44840658565255, + -725.3243820470152, + -7.307056799635377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 118.85033037429923, + -723.8243820470152, + -7.307056799635377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 116.25225416294592, + -722.3243820470152, + -7.307056799635377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 113.6541779515926, + -720.8243820470152, + -7.307056799635377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 111.05610174023928, + -719.3243820470152, + -7.307056799635377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 108.45802552888597, + -717.8243820470152, + -7.307056799635377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 105.85994931753265, + -716.3243820470152, + -7.307056799635377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 103.26187310617934, + -714.8243820470152, + -7.307056799635377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 100.66379689482602, + -713.3243820470152, + -7.307056799635377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 98.0657206834727, + -711.8243820470152, + -7.307056799635377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 95.46764447211939, + -710.3243820470152, + -7.307056799635377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 92.86956826076607, + -708.8243820470152, + -7.307056799635377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 90.27149204941276, + -707.3243820470152, + -7.307056799635377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 87.67341583805944, + -705.8243820470152, + -7.307056799635377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 85.07533962670612, + -704.3243820470152, + -7.307056799635377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 82.47726341535281, + -702.8243820470152, + -7.307056799635377 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 82.47726341535281, + -702.8243820470152, + -7.307056799635377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 80.97726341535281, + -700.2263058356618, + -7.307056799635377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 79.47726341535281, + -697.6282296243085, + -7.307056799635377 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 77.97726341535281, + -695.0301534129551, + -7.307056799635377 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.18217315673829, + -694.5978416442872, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-7-59_1260596963/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-7-59_1260596963/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b8ca24bdaf6aa68123752dcf4dc4ee388dd21a7e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_15-7-59_1260596963/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1380.7084917378124, + 190.26011756613474, + -7.264588219136307 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1377.7084917378124, + 190.26011756613474, + -7.264588219136307 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1374.7084917378124, + 190.26011756613474, + -7.264588219136307 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1371.7084917378124, + 190.26011756613474, + -7.264588219136307 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1368.7084917378124, + 190.26011756613474, + -7.264588219136307 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1365.7084917378124, + 190.26011756613474, + -7.264588219136307 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1362.7084917378124, + 190.26011756613474, + -7.264588219136307 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1359.7084917378124, + 190.26011756613474, + -7.264588219136307 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1356.7084917378124, + 190.26011756613474, + -7.264588219136307 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1353.7084917378124, + 190.26011756613474, + -7.264588219136307 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1350.7084917378124, + 190.26011756613474, + -7.264588219136307 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1347.7084917378124, + 190.26011756613474, + -7.264588219136307 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1344.7084917378124, + 190.26011756613474, + -7.264588219136307 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1341.7084917378124, + 190.26011756613474, + -7.264588219136307 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1338.7084917378124, + 190.26011756613474, + -7.264588219136307 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1335.7084917378124, + 190.26011756613474, + -7.264588219136307 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1332.7084917378124, + 190.26011756613474, + -7.264588219136307 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1329.7084917378124, + 190.26011756613474, + -7.264588219136307 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1329.7084917378124, + 190.26011756613474, + -7.264588219136307 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1327.110415526459, + 191.76011756613474, + -7.264588219136307 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1324.5123393151057, + 193.26011756613474, + -7.264588219136307 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1321.9142631037523, + 194.76011756613474, + -7.264588219136307 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1319.316186892399, + 196.26011756613474, + -7.264588219136307 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-16-38_44041351/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-16-38_44041351/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2e61c32e365db3509e6a63107e984c24fac6fe32 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-16-38_44041351/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1356.4902289152262, + 230.25555161635796, + -6.962371866722626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1353.8921527038729, + 228.75555161635796, + -6.962371866722626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1351.2940764925195, + 227.25555161635796, + -6.962371866722626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1348.696000281166, + 225.75555161635796, + -6.962371866722626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1346.0979240698127, + 224.25555161635796, + -6.962371866722626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1343.4998478584594, + 222.75555161635796, + -6.962371866722626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1340.901771647106, + 221.25555161635796, + -6.962371866722626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1338.3036954357526, + 219.75555161635796, + -6.962371866722626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1335.7056192243992, + 218.25555161635796, + -6.962371866722626 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1335.7056192243992, + 218.25555161635796, + -6.962371866722626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1334.2056192243992, + 215.65747540500465, + -6.962371866722626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1332.7056192243992, + 213.05939919365133, + -6.962371866722626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1331.2056192243992, + 210.46132298229801, + -6.962371866722626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1329.7056192243992, + 207.8632467709447, + -6.962371866722626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1328.2056192243992, + 205.26517055959138, + -6.962371866722626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1326.7056192243992, + 202.66709434823807, + -6.962371866722626 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1326.7056192243992, + 202.66709434823807, + -6.962371866722626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1324.1075430130459, + 201.16709434823807, + -6.962371866722626 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1321.5094668016925, + 199.66709434823807, + -6.962371866722626 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-23-22_1978701535/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-23-22_1978701535/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eeb6d5b2c02e56de7e82c86f0c3b164f20116477 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-23-22_1978701535/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 282.59796442120927, + 218.1427956902873, + -2.584518087497382 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 281.09796442120927, + 215.54471947893398, + -2.584518087497382 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 279.59796442120927, + 212.94664326758067, + -2.584518087497382 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 278.09796442120927, + 210.34856705622735, + -2.584518087497382 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 276.59796442120927, + 207.75049084487404, + -2.584518087497382 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 275.09796442120927, + 205.15241463352072, + -2.584518087497382 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 273.59796442120927, + 202.5543384221674, + -2.584518087497382 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 272.09796442120927, + 199.9562622108141, + -2.584518087497382 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 270.59796442120927, + 197.35818599946077, + -2.584518087497382 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 269.09796442120927, + 194.76010978810746, + -2.584518087497382 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 267.59796442120927, + 192.16203357675414, + -2.584518087497382 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 266.09796442120927, + 189.56395736540082, + -2.584518087497382 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 264.59796442120927, + 186.9658811540475, + -2.584518087497382 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 263.09796442120927, + 184.3678049426942, + -2.584518087497382 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 261.59796442120927, + 181.76972873134088, + -2.584518087497382 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 260.09796442120927, + 179.17165251998756, + -2.584518087497382 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 258.59796442120927, + 176.57357630863424, + -2.584518087497382 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 258.59796442120927, + 176.57357630863424, + -2.584518087497382 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 258.59796442120927, + 173.57357630863424, + -2.584518087497382 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 258.59796442120927, + 170.57357630863424, + -2.584518087497382 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 258.59796442120927, + 167.57357630863424, + -2.584518087497382 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 258.59796442120927, + 164.57357630863424, + -2.584518087497382 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 258.59796442120927, + 161.57357630863424, + -2.584518087497382 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 258.59796442120927, + 158.57357630863424, + -2.584518087497382 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 258.59796442120927, + 155.57357630863424, + -2.584518087497382 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 258.59796442120927, + 152.57357630863424, + -2.584518087497382 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 258.59796442120927, + 149.57357630863424, + -2.584518087497382 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 258.59796442120927, + 146.57357630863424, + -2.584518087497382 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 258.26647663116455, + 142.7095600128174, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-30-50_1910210050/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-30-50_1910210050/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..08b6e0a36115154ebb66b6ad9846a90521875c4f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-30-50_1910210050/pose.jsonl @@ -0,0 +1,157 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1032.6032936379063, + 221.38779433937526, + -0.4689095273349011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1032.6032936379063, + 218.38779433937526, + -0.4689095273349011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1032.6032936379063, + 215.38779433937526, + -0.4689095273349011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1032.6032936379063, + 212.38779433937526, + -0.4689095273349011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1032.6032936379063, + 209.38779433937526, + -0.4689095273349011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1032.6032936379063, + 206.38779433937526, + -0.4689095273349011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1032.6032936379063, + 203.38779433937526, + -0.4689095273349011 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1032.6032936379063, + 203.38779433937526, + -0.4689095273349011 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1032.6032936379063, + 203.38779433937526, + -0.4689095273349011 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1035.2013698492597, + 201.88779433937526, + -0.4689095273349011 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1037.799446060613, + 200.38779433937526, + -0.4689095273349011 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1048.2760719299317, + 161.26469898223877, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-31-26_379461075/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-31-26_379461075/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8715def51aeadc2db3338ea67a63bd5f2d92c219 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-31-26_379461075/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -57.984488968381044, + 60.81309567668084, + -9.258774530118501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -57.984488968381044, + 63.81309567668084, + -9.258774530118501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -57.984488968381044, + 66.81309567668083, + -9.258774530118501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -57.984488968381044, + 69.81309567668083, + -9.258774530118501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -57.984488968381044, + 72.81309567668083, + -9.258774530118501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -57.984488968381044, + 75.81309567668083, + -9.258774530118501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -57.984488968381044, + 78.81309567668083, + -9.258774530118501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -57.984488968381044, + 81.81309567668083, + -9.258774530118501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -57.984488968381044, + 84.81309567668083, + -9.258774530118501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -57.984488968381044, + 87.81309567668083, + -9.258774530118501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -57.984488968381044, + 90.81309567668083, + -9.258774530118501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -57.984488968381044, + 93.81309567668083, + -9.258774530118501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -57.984488968381044, + 96.81309567668083, + -9.258774530118501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -57.984488968381044, + 99.81309567668083, + -9.258774530118501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -57.984488968381044, + 102.81309567668083, + -9.258774530118501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -57.984488968381044, + 105.81309567668083, + -9.258774530118501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -57.984488968381044, + 108.81309567668083, + -9.258774530118501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -57.984488968381044, + 111.81309567668083, + -9.258774530118501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -57.984488968381044, + 114.81309567668083, + -9.258774530118501 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -58.67859439849854, + 118.20751323699952, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-33-20_1779451238/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-33-20_1779451238/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2a5620194920b2f2c1e32853dc61bd69ae9b9431 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-33-20_1779451238/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 189.69199726669655, + 18.09490624756082, + -9.700449537028021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 188.19199726669655, + 20.692982458914138, + -9.700449537028021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 186.69199726669655, + 23.291058670267454, + -9.700449537028021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 185.19199726669655, + 25.88913488162077, + -9.700449537028021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 183.69199726669655, + 28.487211092974086, + -9.700449537028021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 182.19199726669655, + 31.0852873043274, + -9.700449537028021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 180.69199726669655, + 33.68336351568072, + -9.700449537028021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 179.19199726669655, + 36.281439727034034, + -9.700449537028021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 177.69199726669655, + 38.87951593838735, + -9.700449537028021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 176.19199726669655, + 41.477592149740666, + -9.700449537028021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 174.69199726669655, + 44.07566836109398, + -9.700449537028021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 173.19199726669655, + 46.6737445724473, + -9.700449537028021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 171.69199726669655, + 49.271820783800614, + -9.700449537028021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 170.19199726669655, + 51.86989699515393, + -9.700449537028021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 168.69199726669655, + 54.467973206507246, + -9.700449537028021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 167.19199726669655, + 57.06604941786056, + -9.700449537028021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 165.69199726669655, + 59.66412562921388, + -9.700449537028021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 164.19199726669655, + 62.262201840567194, + -9.700449537028021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 162.69199726669655, + 64.86027805192052, + -9.700449537028021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 161.19199726669655, + 67.45835426327383, + -9.700449537028021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 159.69199726669655, + 70.05643047462715, + -9.700449537028021 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 158.19199726669655, + 72.65450668598046, + -9.700449537028021 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.30504608154297, + 75.66667518615724, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-33-51_242474976/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-33-51_242474976/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a1556045cdfd52bd25ce942040e023f7879a7756 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-33-51_242474976/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -77.45732458198569, + 68.19121586689235, + -1.4664478569237218 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -75.95732458198569, + 70.78929207824567, + -1.4664478569237218 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -74.45732458198569, + 73.38736828959898, + -1.4664478569237218 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -72.95732458198569, + 75.9854445009523, + -1.4664478569237218 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -71.45732458198569, + 78.58352071230561, + -1.4664478569237218 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -69.95732458198569, + 81.18159692365893, + -1.4664478569237218 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -68.45732458198569, + 83.77967313501225, + -1.4664478569237218 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -66.95732458198569, + 86.37774934636556, + -1.4664478569237218 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -65.45732458198569, + 88.97582555771888, + -1.4664478569237218 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -63.95732458198569, + 91.5739017690722, + -1.4664478569237218 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -62.45732458198569, + 94.17197798042551, + -1.4664478569237218 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -60.95732458198569, + 96.77005419177883, + -1.4664478569237218 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -60.95732458198569, + 96.77005419177883, + -1.4664478569237218 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -60.95732458198569, + 99.77005419177883, + -1.4664478569237218 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -60.95732458198569, + 102.77005419177883, + -1.4664478569237218 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -60.95732458198569, + 105.77005419177883, + -1.4664478569237218 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -60.95732458198569, + 108.77005419177883, + -1.4664478569237218 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -60.95732458198569, + 111.77005419177883, + -1.4664478569237218 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -60.95732458198569, + 111.77005419177883, + -1.4664478569237218 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -59.45732458198569, + 114.36813040313214, + -1.4664478569237218 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -58.67859439849854, + 118.20751323699952, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-34-51_1840019304/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-34-51_1840019304/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..347c55f5e27bf7b0a2eb022c69b554f21d6670bd --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-34-51_1840019304/pose.jsonl @@ -0,0 +1,118 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 590.3421248519722, + -24.3706267389975, + -0.299811626686628 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 591.8421248519722, + -21.772550527644185, + -0.299811626686628 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 593.3421248519722, + -19.17447431629087, + -0.299811626686628 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 594.8421248519722, + -16.576398104937553, + -0.299811626686628 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 594.8421248519722, + -16.576398104937553, + -0.299811626686628 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 594.8421248519722, + -13.576398104937553, + -0.299811626686628 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 594.8421248519722, + -10.576398104937553, + -0.299811626686628 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 594.8421248519722, + -7.576398104937553, + -0.299811626686628 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 611.1197254180909, + 43.554152965545654, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-36-19_773446912/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-36-19_773446912/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bd455f18b7b9e9deae4aca0fee375a4061e67341 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-36-19_773446912/pose.jsonl @@ -0,0 +1,248 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 534.4555662990539, + 315.7135748252582, + -8.924184207061497 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 531.8574900877006, + 314.2135748252582, + -8.924184207061497 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 529.2594138763473, + 312.7135748252582, + -8.924184207061497 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 526.6613376649939, + 311.2135748252582, + -8.924184207061497 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 524.0632614536405, + 309.7135748252582, + -8.924184207061497 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 521.4651852422871, + 308.2135748252582, + -8.924184207061497 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 518.8671090309338, + 306.7135748252582, + -8.924184207061497 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 516.2690328195804, + 305.2135748252582, + -8.924184207061497 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 513.670956608227, + 303.7135748252582, + -8.924184207061497 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 513.670956608227, + 303.7135748252582, + -8.924184207061497 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 512.170956608227, + 301.1154986139049, + -8.924184207061497 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 510.670956608227, + 298.5174224025516, + -8.924184207061497 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 509.170956608227, + 295.91934619119826, + -8.924184207061497 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 507.670956608227, + 293.32126997984494, + -8.924184207061497 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 506.170956608227, + 290.7231937684916, + -8.924184207061497 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 504.670956608227, + 288.1251175571383, + -8.924184207061497 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 503.170956608227, + 285.527041345785, + -8.924184207061497 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 501.670956608227, + 282.9289651344317, + -8.924184207061497 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 498.19472236633305, + 281.0884632110596, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-38-15_38649718/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-38-15_38649718/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7c0a155973b49f13d3e63b4a8493f593c7d1fc99 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-38-15_38649718/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1314.259324889223, + -187.34840419131308, + -4.161255051392798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1312.759324889223, + -189.9464804026664, + -4.161255051392798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1311.259324889223, + -192.5445566140197, + -4.161255051392798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1309.759324889223, + -195.14263282537303, + -4.161255051392798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1308.259324889223, + -197.74070903672634, + -4.161255051392798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1306.759324889223, + -200.33878524807966, + -4.161255051392798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1305.259324889223, + -202.93686145943298, + -4.161255051392798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1303.759324889223, + -205.5349376707863, + -4.161255051392798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1302.259324889223, + -208.1330138821396, + -4.161255051392798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1300.759324889223, + -210.73109009349292, + -4.161255051392798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1299.259324889223, + -213.32916630484624, + -4.161255051392798 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1299.259324889223, + -213.32916630484624, + -4.161255051392798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1296.6612486778697, + -214.82916630484624, + -4.161255051392798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1294.0631724665163, + -216.32916630484624, + -4.161255051392798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1291.465096255163, + -217.82916630484624, + -4.161255051392798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1288.8670200438096, + -219.32916630484624, + -4.161255051392798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1286.2689438324562, + -220.82916630484624, + -4.161255051392798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1283.6708676211028, + -222.32916630484624, + -4.161255051392798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1281.0727914097495, + -223.82916630484624, + -4.161255051392798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1278.474715198396, + -225.32916630484624, + -4.161255051392798 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1278.474715198396, + -225.32916630484624, + -4.161255051392798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1276.974715198396, + -227.92724251619956, + -4.161255051392798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1275.474715198396, + -230.52531872755287, + -4.161255051392798 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-39-5_1116945487/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-39-5_1116945487/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fded68067e2b72225ddd853e4eee998ee13c4a99 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-39-5_1116945487/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 282.73919986241435, + 240.93700787033117, + -2.695156148538457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 281.23919986241435, + 238.33893165897786, + -2.695156148538457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 279.73919986241435, + 235.74085544762454, + -2.695156148538457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 278.23919986241435, + 233.14277923627122, + -2.695156148538457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 276.73919986241435, + 230.5447030249179, + -2.695156148538457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 275.23919986241435, + 227.9466268135646, + -2.695156148538457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 273.73919986241435, + 225.34855060221128, + -2.695156148538457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 272.23919986241435, + 222.75047439085796, + -2.695156148538457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 270.73919986241435, + 220.15239817950464, + -2.695156148538457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 269.23919986241435, + 217.55432196815133, + -2.695156148538457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 267.73919986241435, + 214.956245756798, + -2.695156148538457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 266.23919986241435, + 212.3581695454447, + -2.695156148538457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 264.73919986241435, + 209.76009333409138, + -2.695156148538457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 263.23919986241435, + 207.16201712273806, + -2.695156148538457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 261.73919986241435, + 204.56394091138475, + -2.695156148538457 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 261.73919986241435, + 204.56394091138475, + -2.695156148538457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 259.14112365106104, + 203.06394091138475, + -2.695156148538457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 256.5430474397077, + 201.56394091138475, + -2.695156148538457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 253.9449712283544, + 200.06394091138475, + -2.695156148538457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 251.3468950170011, + 198.56394091138475, + -2.695156148538457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 248.74881880564777, + 197.06394091138475, + -2.695156148538457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 246.15074259429446, + 195.56394091138475, + -2.695156148538457 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 243.237640953064, + 194.2933292388916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-44-18_530406424/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-44-18_530406424/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e3f813304fa2944e8814f35516e86a1b460c692a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_16-44-18_530406424/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1301.8907080014676, + 125.83383745140243, + -5.470859568265858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393198 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1300.3907080014676, + 128.43191366275573, + -5.470859568265858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393198 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1298.8907080014676, + 131.02998987410905, + -5.470859568265858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1297.3907080014676, + 133.62806608546236, + -5.470859568265858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1295.8907080014676, + 136.22614229681568, + -5.470859568265858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1294.3907080014676, + 138.824218508169, + -5.470859568265858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1292.8907080014676, + 141.4222947195223, + -5.470859568265858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1291.3907080014676, + 144.02037093087563, + -5.470859568265858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1289.8907080014676, + 146.61844714222894, + -5.470859568265858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1288.3907080014676, + 149.21652335358226, + -5.470859568265858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1286.8907080014676, + 151.81459956493558, + -5.470859568265858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1285.3907080014676, + 154.4126757762889, + -5.470859568265858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1283.8907080014676, + 157.0107519876422, + -5.470859568265858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1282.3907080014676, + 159.60882819899552, + -5.470859568265858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1280.8907080014676, + 162.20690441034884, + -5.470859568265858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1279.3907080014676, + 164.80498062170216, + -5.470859568265858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1277.8907080014676, + 167.40305683305547, + -5.470859568265858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1276.3907080014676, + 170.0011330444088, + -5.470859568265858 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1276.3907080014676, + 170.0011330444088, + -5.470859568265858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1273.7926317901142, + 171.5011330444088, + -5.470859568265858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1271.1945555787609, + 173.0011330444088, + -5.470859568265858 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1269.6296508789064, + 175.0053077697754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-37-4_1827336327/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-37-4_1827336327/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3ad701550101b1310aa90b9cdecde0daaa2581f9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-37-4_1827336327/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1387.7520980370095, + 18.0227529622954, + -1.0961650298776284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1389.2520980370095, + 20.620829173648715, + -1.0961650298776284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1390.7520980370095, + 23.21890538500203, + -1.0961650298776284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1392.2520980370095, + 25.816981596355348, + -1.0961650298776284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1393.7520980370095, + 28.415057807708664, + -1.0961650298776284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1395.2520980370095, + 31.01313401906198, + -1.0961650298776284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1396.7520980370095, + 33.611210230415296, + -1.0961650298776284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1398.2520980370095, + 36.20928644176861, + -1.0961650298776284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1399.7520980370095, + 38.80736265312193, + -1.0961650298776284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1401.2520980370095, + 41.405438864475244, + -1.0961650298776284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1402.7520980370095, + 44.00351507582856, + -1.0961650298776284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1404.2520980370095, + 46.601591287181876, + -1.0961650298776284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1405.7520980370095, + 49.19966749853519, + -1.0961650298776284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1407.2520980370095, + 51.79774370988851, + -1.0961650298776284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1408.7520980370095, + 54.395819921241824, + -1.0961650298776284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1410.2520980370095, + 56.99389613259514, + -1.0961650298776284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1411.7520980370095, + 59.591972343948456, + -1.0961650298776284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1413.2520980370095, + 62.19004855530177, + -1.0961650298776284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1414.7520980370095, + 64.78812476665509, + -1.0961650298776284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1416.2520980370095, + 67.3862009780084, + -1.0961650298776284 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1416.2520980370095, + 67.3862009780084, + -1.0961650298776284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1418.850174248363, + 68.8862009780084, + -1.0961650298776284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1421.4482504597163, + 70.3862009780084, + -1.0961650298776284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1424.0463266710697, + 71.8862009780084, + -1.0961650298776284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1426.644402882423, + 73.3862009780084, + -1.0961650298776284 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1429.2424790937764, + 74.8862009780084, + -1.0961650298776284 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.5684967041016, + 76.17316565513612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-39-28_1998898814/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-39-28_1998898814/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..82357027e1d7e936468780d6093937110f11cf43 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-39-28_1998898814/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -165.14204236429276, + -333.4193735806768, + -3.7384792900049737 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -163.64204236429276, + -330.8212973693235, + -3.7384792900049737 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -162.14204236429276, + -328.22322115797016, + -3.7384792900049737 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -160.64204236429276, + -325.62514494661684, + -3.7384792900049737 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -159.14204236429276, + -323.0270687352635, + -3.7384792900049737 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -157.64204236429276, + -320.4289925239102, + -3.7384792900049737 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -156.14204236429276, + -317.8309163125569, + -3.7384792900049737 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -154.64204236429276, + -315.2328401012036, + -3.7384792900049737 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -153.14204236429276, + -312.63476388985026, + -3.7384792900049737 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -151.64204236429276, + -310.03668767849695, + -3.7384792900049737 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -150.14204236429276, + -307.43861146714363, + -3.7384792900049737 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -150.14204236429276, + -307.43861146714363, + -3.7384792900049737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -147.54396615293945, + -305.93861146714363, + -3.7384792900049737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -144.94588994158613, + -304.43861146714363, + -3.7384792900049737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -142.34781373023282, + -302.93861146714363, + -3.7384792900049737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -139.7497375188795, + -301.43861146714363, + -3.7384792900049737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -137.15166130752618, + -299.93861146714363, + -3.7384792900049737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -134.55358509617287, + -298.43861146714363, + -3.7384792900049737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -131.95550888481955, + -296.93861146714363, + -3.7384792900049737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -129.35743267346623, + -295.43861146714363, + -3.7384792900049737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -126.75935646211292, + -293.93861146714363, + -3.7384792900049737 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -126.75935646211292, + -293.93861146714363, + -3.7384792900049737 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -125.25935646211292, + -291.3405352557903, + -3.7384792900049737 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -122.89827556610108, + -288.4065223693848, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-43-50_943947739/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-43-50_943947739/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..997bf6002d112351f8cad0a6fe5795773e3b307e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-43-50_943947739/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 170.32737801593913, + 164.32946659000848, + -1.2332327638316727 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 167.32737801593913, + 164.32946659000848, + -1.2332327638316727 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 164.32737801593913, + 164.32946659000848, + -1.2332327638316727 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 161.32737801593913, + 164.32946659000848, + -1.2332327638316727 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 158.32737801593913, + 164.32946659000848, + -1.2332327638316727 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 155.32737801593913, + 164.32946659000848, + -1.2332327638316727 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 152.32737801593913, + 164.32946659000848, + -1.2332327638316727 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 149.32737801593913, + 164.32946659000848, + -1.2332327638316727 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 146.32737801593913, + 164.32946659000848, + -1.2332327638316727 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 143.32737801593913, + 164.32946659000848, + -1.2332327638316727 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 140.32737801593913, + 164.32946659000848, + -1.2332327638316727 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 137.32737801593913, + 164.32946659000848, + -1.2332327638316727 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 134.32737801593913, + 164.32946659000848, + -1.2332327638316727 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 131.32737801593913, + 164.32946659000848, + -1.2332327638316727 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 128.32737801593913, + 164.32946659000848, + -1.2332327638316727 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 128.32737801593913, + 164.32946659000848, + -1.2332327638316727 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 125.72930180458582, + 165.82946659000848, + -1.2332327638316727 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 123.1312255932325, + 167.32946659000848, + -1.2332327638316727 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 120.53314938187918, + 168.82946659000848, + -1.2332327638316727 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 117.93507317052587, + 170.32946659000848, + -1.2332327638316727 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 115.33699695917255, + 171.82946659000848, + -1.2332327638316727 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 112.73892074781924, + 173.32946659000848, + -1.2332327638316727 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 110.14084453646592, + 174.82946659000848, + -1.2332327638316727 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-48-58_364228444/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-48-58_364228444/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4219766f1fb6eba554b3191e9665c2046d0a347f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-48-58_364228444/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -115.51673293326877, + -273.0738523764417, + -4.453462208601449 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -117.01673293326877, + -270.4757761650884, + -4.453462208601449 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -118.51673293326877, + -267.8776999537351, + -4.453462208601449 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -120.01673293326877, + -265.2796237423818, + -4.453462208601449 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -121.51673293326877, + -262.68154753102846, + -4.453462208601449 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -123.01673293326877, + -260.08347131967514, + -4.453462208601449 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -124.51673293326877, + -257.4853951083218, + -4.453462208601449 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -126.01673293326877, + -254.8873188969685, + -4.453462208601449 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -127.51673293326877, + -252.2892426856152, + -4.453462208601449 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -129.01673293326877, + -249.69116647426188, + -4.453462208601449 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -129.01673293326877, + -249.69116647426188, + -4.453462208601449 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -131.6148091446221, + -248.19116647426188, + -4.453462208601449 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -134.2128853559754, + -246.69116647426188, + -4.453462208601449 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -136.81096156732872, + -245.19116647426188, + -4.453462208601449 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -139.40903777868203, + -243.69116647426188, + -4.453462208601449 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -142.00711399003535, + -242.19116647426188, + -4.453462208601449 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -144.60519020138867, + -240.69116647426188, + -4.453462208601449 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -147.20326641274198, + -239.19116647426188, + -4.453462208601449 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -149.8013426240953, + -237.69116647426188, + -4.453462208601449 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -152.3994188354486, + -236.19116647426188, + -4.453462208601449 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -152.3348680496216, + -234.43780555725098, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-55-5_1409959708/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-55-5_1409959708/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a877a74f3c73da304f8337dd1ca697e9c70af409 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_19-55-5_1409959708/pose.jsonl @@ -0,0 +1,235 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 833.3925729052921, + -318.73131268572683, + -8.275300463724147 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 836.3925729052921, + -318.73131268572683, + -8.275300463724147 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 839.3925729052921, + -318.73131268572683, + -8.275300463724147 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 839.3925729052921, + -318.73131268572683, + -8.275300463724147 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 839.3925729052921, + -318.73131268572683, + -8.275300463724147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 840.8925729052921, + -316.1332364743735, + -8.275300463724147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 842.3925729052921, + -313.5351602630202, + -8.275300463724147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 843.8925729052921, + -310.9370840516669, + -8.275300463724147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 845.3925729052921, + -308.33900784031357, + -8.275300463724147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 846.8925729052921, + -305.74093162896025, + -8.275300463724147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 848.3925729052921, + -303.14285541760694, + -8.275300463724147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 849.8925729052921, + -300.5447792062536, + -8.275300463724147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 851.3925729052921, + -297.9467029949003, + -8.275300463724147 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 852.8925729052921, + -295.348626783547, + -8.275300463724147 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 852.8925729052921, + -295.348626783547, + -8.275300463724147 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 855.4906491166455, + -293.848626783547, + -8.275300463724147 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 858.0887253279989, + -292.348626783547, + -8.275300463724147 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 871.2010513305664, + -278.09218101501466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-1-24_841148365/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-1-24_841148365/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b1aeca27f97c57fad90a53702beff327aa13f88e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-1-24_841148365/pose.jsonl @@ -0,0 +1,248 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -80.7331385055564, + -659.5812747555425, + -3.752506560218926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -79.2331385055564, + -656.9831985441892, + -3.752506560218926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -77.7331385055564, + -654.3851223328359, + -3.752506560218926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -76.2331385055564, + -651.7870461214825, + -3.752506560218926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -74.7331385055564, + -649.1889699101291, + -3.752506560218926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -73.2331385055564, + -646.5908936987757, + -3.752506560218926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -71.7331385055564, + -643.9928174874224, + -3.752506560218926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -70.2331385055564, + -641.394741276069, + -3.752506560218926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -68.7331385055564, + -638.7966650647156, + -3.752506560218926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -67.2331385055564, + -636.1985888533623, + -3.752506560218926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -65.7331385055564, + -633.6005126420089, + -3.752506560218926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -64.2331385055564, + -631.0024364306555, + -3.752506560218926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -62.7331385055564, + -628.4043602193021, + -3.752506560218926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -61.2331385055564, + -625.8062840079488, + -3.752506560218926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -59.7331385055564, + -623.2082077965954, + -3.752506560218926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -58.2331385055564, + -620.610131585242, + -3.752506560218926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -56.7331385055564, + -618.0120553738886, + -3.752506560218926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -55.2331385055564, + -615.4139791625353, + -3.752506560218926 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-1-35_1960709859/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-1-35_1960709859/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f5b0fd73d3dc2be6e8c01aed7e4807d232164aeb --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-1-35_1960709859/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -251.72029982887275, + 17.31221081176931, + -3.8010686103604385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -251.72029982887275, + 14.312210811769312, + -3.8010686103604385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -251.72029982887275, + 11.312210811769312, + -3.8010686103604385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -251.72029982887275, + 8.312210811769312, + -3.8010686103604385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -251.72029982887275, + 5.312210811769312, + -3.8010686103604385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -251.72029982887275, + 2.3122108117693116, + -3.8010686103604385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -251.72029982887275, + -0.6877891882306884, + -3.8010686103604385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -251.72029982887275, + -3.6877891882306884, + -3.8010686103604385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -251.72029982887275, + -6.687789188230688, + -3.8010686103604385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -251.72029982887275, + -9.687789188230688, + -3.8010686103604385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -251.72029982887275, + -12.687789188230688, + -3.8010686103604385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -251.72029982887275, + -15.687789188230688, + -3.8010686103604385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -251.72029982887275, + -18.68778918823069, + -3.8010686103604385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -251.72029982887275, + -21.68778918823069, + -3.8010686103604385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -251.72029982887275, + -24.68778918823069, + -3.8010686103604385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -251.72029982887275, + -27.68778918823069, + -3.8010686103604385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -251.72029982887275, + -30.68778918823069, + -3.8010686103604385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -251.72029982887275, + -33.68778918823069, + -3.8010686103604385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -251.72029982887275, + -36.68778918823069, + -3.8010686103604385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -251.72029982887275, + -39.68778918823069, + -3.8010686103604385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -251.72029982887275, + -42.68778918823069, + -3.8010686103604385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -251.72029982887275, + -45.68778918823069, + -3.8010686103604385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -251.72029982887275, + -48.68778918823069, + -3.8010686103604385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -251.72029982887275, + -51.68778918823069, + -3.8010686103604385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -251.72029982887275, + -54.68778918823069, + -3.8010686103604385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -251.72029982887275, + -57.68778918823069, + -3.8010686103604385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -251.72029982887275, + -60.68778918823069, + -3.8010686103604385 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.59913692474368, + -62.6346962928772, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-28-19_588219756/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-28-19_588219756/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8193786db36e3601ce8005f2c1a90ce9cf5ab03b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-28-19_588219756/pose.jsonl @@ -0,0 +1,131 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 706.5875764101156, + -15.593402531502818, + -6.241224009719129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 705.0875764101156, + -18.191478742856134, + -6.241224009719129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 703.5875764101156, + -20.78955495420945, + -6.241224009719129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 702.0875764101156, + -23.387631165562766, + -6.241224009719129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 700.5875764101156, + -25.985707376916082, + -6.241224009719129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 699.0875764101156, + -28.583783588269398, + -6.241224009719129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 697.5875764101156, + -31.181859799622714, + -6.241224009719129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 696.0875764101156, + -33.77993601097603, + -6.241224009719129 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 694.5875764101156, + -36.378012222329346, + -6.241224009719129 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.9317680358887, + -69.13963012695314, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-34-55_324763920/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-34-55_324763920/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d802c4afbb2e04e98437cf8f970f0e35ede1cecf --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-34-55_324763920/pose.jsonl @@ -0,0 +1,170 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1546.1269696903248, + -66.29007239720144, + -7.095895050025057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1544.6269696903248, + -68.88814860855476, + -7.095895050025057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1543.1269696903248, + -71.48622481990807, + -7.095895050025057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1541.6269696903248, + -74.08430103126139, + -7.095895050025057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1540.1269696903248, + -76.6823772426147, + -7.095895050025057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1538.6269696903248, + -79.28045345396802, + -7.095895050025057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1537.1269696903248, + -81.87852966532134, + -7.095895050025057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1535.6269696903248, + -84.47660587667465, + -7.095895050025057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1534.1269696903248, + -87.07468208802797, + -7.095895050025057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1532.6269696903248, + -89.67275829938129, + -7.095895050025057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1531.1269696903248, + -92.2708345107346, + -7.095895050025057 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1529.6269696903248, + -94.86891072208792, + -7.095895050025057 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1517.6720581054688, + -108.54975051879883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-41-53_11614769/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-41-53_11614769/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2fb7fc61289c52aaf0a1801a4e83d924f5a22af5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-41-53_11614769/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 331.69862286219774, + 170.7397523609239, + -7.550451784894708 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 329.1005466508444, + 169.2397523609239, + -7.550451784894708 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 326.5024704394911, + 167.7397523609239, + -7.550451784894708 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 323.9043942281378, + 166.2397523609239, + -7.550451784894708 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 321.3063180167845, + 164.7397523609239, + -7.550451784894708 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 318.70824180543116, + 163.2397523609239, + -7.550451784894708 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 316.11016559407784, + 161.7397523609239, + -7.550451784894708 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 313.5120893827245, + 160.2397523609239, + -7.550451784894708 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 310.9140131713712, + 158.7397523609239, + -7.550451784894708 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 308.3159369600179, + 157.2397523609239, + -7.550451784894708 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 305.7178607486646, + 155.7397523609239, + -7.550451784894708 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 303.11978453731126, + 154.2397523609239, + -7.550451784894708 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 300.52170832595795, + 152.7397523609239, + -7.550451784894708 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 297.92363211460463, + 151.2397523609239, + -7.550451784894708 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 295.3255559032513, + 149.7397523609239, + -7.550451784894708 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 292.727479691898, + 148.2397523609239, + -7.550451784894708 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 290.1294034805447, + 146.7397523609239, + -7.550451784894708 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 287.53132726919137, + 145.2397523609239, + -7.550451784894708 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 284.93325105783805, + 143.7397523609239, + -7.550451784894708 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 282.33517484648473, + 142.2397523609239, + -7.550451784894708 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 282.33517484648473, + 142.2397523609239, + -7.550451784894708 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 279.33517484648473, + 142.2397523609239, + -7.550451784894708 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 276.33517484648473, + 142.2397523609239, + -7.550451784894708 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 273.33517484648473, + 142.2397523609239, + -7.550451784894708 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 270.33517484648473, + 142.2397523609239, + -7.550451784894708 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 267.33517484648473, + 142.2397523609239, + -7.550451784894708 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 264.33517484648473, + 142.2397523609239, + -7.550451784894708 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 261.33517484648473, + 142.2397523609239, + -7.550451784894708 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 258.26647663116455, + 142.7095600128174, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-59-58_1395132002/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-59-58_1395132002/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3d0cec1672e6cb79f1e82481d6877fded865b570 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-59-58_1395132002/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -183.1947431727109, + 28.04052928753459, + -0.8059407012095434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -186.1947431727109, + 28.04052928753459, + -0.8059407012095434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -189.1947431727109, + 28.04052928753459, + -0.8059407012095434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -192.1947431727109, + 28.04052928753459, + -0.8059407012095434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -195.1947431727109, + 28.04052928753459, + -0.8059407012095434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -198.1947431727109, + 28.04052928753459, + -0.8059407012095434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -201.1947431727109, + 28.04052928753459, + -0.8059407012095434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -204.1947431727109, + 28.04052928753459, + -0.8059407012095434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -207.1947431727109, + 28.04052928753459, + -0.8059407012095434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -210.1947431727109, + 28.04052928753459, + -0.8059407012095434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -213.1947431727109, + 28.04052928753459, + -0.8059407012095434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -216.1947431727109, + 28.04052928753459, + -0.8059407012095434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -219.1947431727109, + 28.04052928753459, + -0.8059407012095434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -222.1947431727109, + 28.04052928753459, + -0.8059407012095434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -225.1947431727109, + 28.04052928753459, + -0.8059407012095434 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -228.1947431727109, + 28.04052928753459, + -0.8059407012095434 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -228.1947431727109, + 28.04052928753459, + -0.8059407012095434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -230.79281938406422, + 29.54052928753459, + -0.8059407012095434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -233.39089559541753, + 31.04052928753459, + -0.8059407012095434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -235.98897180677085, + 32.54052928753459, + -0.8059407012095434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -238.58704801812416, + 34.04052928753459, + -0.8059407012095434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -241.18512422947748, + 35.54052928753459, + -0.8059407012095434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -243.7832004408308, + 37.04052928753459, + -0.8059407012095434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -246.3812766521841, + 38.54052928753459, + -0.8059407012095434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -248.97935286353743, + 40.04052928753459, + -0.8059407012095434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -251.57742907489074, + 41.54052928753459, + -0.8059407012095434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -254.17550528624406, + 43.04052928753459, + -0.8059407012095434 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -256.7735814975974, + 44.54052928753459, + -0.8059407012095434 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -259.2387418746948, + 45.236197376251226, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-7-59_1395235128/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-7-59_1395235128/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4347ceba7dbab142c37a849821aaa5ec5512523a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-7-59_1395235128/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1526.3181917428947, + -11.027426777606902, + -6.46627317327312 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1523.7201155315413, + -9.527426777606902, + -6.46627317327312 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1521.122039320188, + -8.027426777606902, + -6.46627317327312 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1518.5239631088346, + -6.527426777606902, + -6.46627317327312 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1515.9258868974812, + -5.027426777606902, + -6.46627317327312 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1513.3278106861278, + -3.5274267776069017, + -6.46627317327312 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1510.7297344747744, + -2.0274267776069017, + -6.46627317327312 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1508.131658263421, + -0.5274267776069019, + -6.46627317327312 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1505.5335820520677, + 0.9725732223930978, + -6.46627317327312 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1502.9355058407143, + 2.4725732223930974, + -6.46627317327312 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991504 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1500.337429629361, + 3.9725732223930974, + -6.46627317327312 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1497.7393534180076, + 5.472573222393097, + -6.46627317327312 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1495.1412772066542, + 6.972573222393097, + -6.46627317327312 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1492.5432009953008, + 8.472573222393097, + -6.46627317327312 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991504 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1492.5432009953008, + 8.472573222393097, + -6.46627317327312 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589803 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1489.5432009953008, + 8.472573222393097, + -6.46627317327312 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1486.5432009953008, + 8.472573222393097, + -6.46627317327312 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1483.5432009953008, + 8.472573222393097, + -6.46627317327312 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1480.5432009953008, + 8.472573222393097, + -6.46627317327312 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1477.724824523926, + 10.967879819869996, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-8-11_532670688/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-8-11_532670688/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..842833bc7c12109f47edd527582cd375058af6d9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_20-8-11_532670688/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1384.999298727419, + 180.6807444508379, + -5.179639413071742 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1381.999298727419, + 180.6807444508379, + -5.179639413071742 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1378.999298727419, + 180.6807444508379, + -5.179639413071742 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1375.999298727419, + 180.6807444508379, + -5.179639413071742 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1372.999298727419, + 180.6807444508379, + -5.179639413071742 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1369.999298727419, + 180.6807444508379, + -5.179639413071742 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1366.999298727419, + 180.6807444508379, + -5.179639413071742 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1363.999298727419, + 180.6807444508379, + -5.179639413071742 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1360.999298727419, + 180.6807444508379, + -5.179639413071742 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1357.999298727419, + 180.6807444508379, + -5.179639413071742 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1354.999298727419, + 180.6807444508379, + -5.179639413071742 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1351.999298727419, + 180.6807444508379, + -5.179639413071742 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1351.999298727419, + 180.6807444508379, + -5.179639413071742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1349.4012225160657, + 182.1807444508379, + -5.179639413071742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1346.8031463047123, + 183.6807444508379, + -5.179639413071742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1344.205070093359, + 185.1807444508379, + -5.179639413071742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1341.6069938820056, + 186.6807444508379, + -5.179639413071742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1339.0089176706522, + 188.1807444508379, + -5.179639413071742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1336.4108414592988, + 189.6807444508379, + -5.179639413071742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1333.8127652479454, + 191.1807444508379, + -5.179639413071742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1331.214689036592, + 192.6807444508379, + -5.179639413071742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1328.6166128252387, + 194.1807444508379, + -5.179639413071742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1326.0185366138853, + 195.6807444508379, + -5.179639413071742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1323.420460402532, + 197.1807444508379, + -5.179639413071742 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1320.8223841911786, + 198.6807444508379, + -5.179639413071742 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1318.4154022216799, + 197.2680404663086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-13-49_1877565100/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-13-49_1877565100/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04afbe9769d252ec6bc0dab61308ded28ff59615 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-13-49_1877565100/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 257.1293072095732, + -168.9540074584634, + -2.4182035180900403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 259.7273834209265, + -167.4540074584634, + -2.4182035180900403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 262.32545963227983, + -165.9540074584634, + -2.4182035180900403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 264.92353584363315, + -164.4540074584634, + -2.4182035180900403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 267.52161205498646, + -162.9540074584634, + -2.4182035180900403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 270.1196882663398, + -161.4540074584634, + -2.4182035180900403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 272.7177644776931, + -159.9540074584634, + -2.4182035180900403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 275.3158406890464, + -158.4540074584634, + -2.4182035180900403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 277.9139169003997, + -156.9540074584634, + -2.4182035180900403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 280.51199311175304, + -155.4540074584634, + -2.4182035180900403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 283.11006932310636, + -153.9540074584634, + -2.4182035180900403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 285.7081455344597, + -152.4540074584634, + -2.4182035180900403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 288.306221745813, + -150.9540074584634, + -2.4182035180900403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 290.9042979571663, + -149.4540074584634, + -2.4182035180900403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 293.5023741685196, + -147.9540074584634, + -2.4182035180900403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 296.10045037987294, + -146.4540074584634, + -2.4182035180900403 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 298.69852659122625, + -144.9540074584634, + -2.4182035180900403 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 298.69852659122625, + -144.9540074584634, + -2.4182035180900403 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 298.69852659122625, + -144.9540074584634, + -2.4182035180900403 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 301.29660280257957, + -146.4540074584634, + -2.4182035180900403 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.9684103012085, + -137.41820926666261, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-16-36_1426819080/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-16-36_1426819080/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec48521555bd02362cef08eb054776dff0996f0a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-16-36_1426819080/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 618.7043273568163, + -56.66820653182122, + -5.940756439595834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 620.2043273568163, + -54.070130320467904, + -5.940756439595834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 621.7043273568163, + -51.47205410911459, + -5.940756439595834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 623.2043273568163, + -48.87397789776127, + -5.940756439595834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 624.7043273568163, + -46.275901686407956, + -5.940756439595834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 626.2043273568163, + -43.67782547505464, + -5.940756439595834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 627.7043273568163, + -41.07974926370132, + -5.940756439595834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 629.2043273568163, + -38.48167305234801, + -5.940756439595834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 630.7043273568163, + -35.88359684099469, + -5.940756439595834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 632.2043273568163, + -33.285520629641375, + -5.940756439595834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 633.7043273568163, + -30.68744441828806, + -5.940756439595834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 635.2043273568163, + -28.089368206934743, + -5.940756439595834 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 635.2043273568163, + -28.089368206934743, + -5.940756439595834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 637.8024035681697, + -26.589368206934743, + -5.940756439595834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 640.400479779523, + -25.089368206934743, + -5.940756439595834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 642.9985559908764, + -23.589368206934743, + -5.940756439595834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 645.5966322022298, + -22.089368206934743, + -5.940756439595834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 648.1947084135832, + -20.589368206934743, + -5.940756439595834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 650.7927846249365, + -19.089368206934743, + -5.940756439595834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 653.3908608362899, + -17.589368206934743, + -5.940756439595834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 655.9889370476433, + -16.089368206934743, + -5.940756439595834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 658.5870132589966, + -14.589368206934743, + -5.940756439595834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 661.18508947035, + -13.089368206934743, + -5.940756439595834 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 661.0575393676759, + -10.88031406402588, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-2-6_1812282134/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-2-6_1812282134/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..19356283583be80890094354733da3fe245af0f2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-2-6_1812282134/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1491.609653435491, + -191.2226686465007, + -0.1930513612466651 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1488.609653435491, + -191.2226686465007, + -0.1930513612466651 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1485.609653435491, + -191.2226686465007, + -0.1930513612466651 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1482.609653435491, + -191.2226686465007, + -0.1930513612466651 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1479.609653435491, + -191.2226686465007, + -0.1930513612466651 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1476.609653435491, + -191.2226686465007, + -0.1930513612466651 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1473.609653435491, + -191.2226686465007, + -0.1930513612466651 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1470.609653435491, + -191.2226686465007, + -0.1930513612466651 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1467.609653435491, + -191.2226686465007, + -0.1930513612466651 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1464.609653435491, + -191.2226686465007, + -0.1930513612466651 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1461.609653435491, + -191.2226686465007, + -0.1930513612466651 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1458.609653435491, + -191.2226686465007, + -0.1930513612466651 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1455.609653435491, + -191.2226686465007, + -0.1930513612466651 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1452.609653435491, + -191.2226686465007, + -0.1930513612466651 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1449.609653435491, + -191.2226686465007, + -0.1930513612466651 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1446.609653435491, + -191.2226686465007, + -0.1930513612466651 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1443.609653435491, + -191.2226686465007, + -0.1930513612466651 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1443.609653435491, + -191.2226686465007, + -0.1930513612466651 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1441.0115772241377, + -189.7226686465007, + -0.1930513612466651 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1438.4135010127843, + -188.2226686465007, + -0.1930513612466651 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-24-2_478034945/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-24-2_478034945/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..61fa9369f3e69048b60e34fcb3855d6fc121480f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-24-2_478034945/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -278.5161160530664, + -90.63967718106205, + -8.002872570300202 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -281.5161160530664, + -90.63967718106205, + -8.002872570300202 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -284.5161160530664, + -90.63967718106205, + -8.002872570300202 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -287.5161160530664, + -90.63967718106205, + -8.002872570300202 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -290.5161160530664, + -90.63967718106205, + -8.002872570300202 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -293.5161160530664, + -90.63967718106205, + -8.002872570300202 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -296.5161160530664, + -90.63967718106205, + -8.002872570300202 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -299.5161160530664, + -90.63967718106205, + -8.002872570300202 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -302.5161160530664, + -90.63967718106205, + -8.002872570300202 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -305.5161160530664, + -90.63967718106205, + -8.002872570300202 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -308.5161160530664, + -90.63967718106205, + -8.002872570300202 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -311.5161160530664, + -90.63967718106205, + -8.002872570300202 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -314.5161160530664, + -90.63967718106205, + -8.002872570300202 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -317.5161160530664, + -90.63967718106205, + -8.002872570300202 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -320.5161160530664, + -90.63967718106205, + -8.002872570300202 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -323.5161160530664, + -90.63967718106205, + -8.002872570300202 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -326.5161160530664, + -90.63967718106205, + -8.002872570300202 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -329.5161160530664, + -90.63967718106205, + -8.002872570300202 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -332.5161160530664, + -90.63967718106205, + -8.002872570300202 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.7922431945801, + -91.63226652145386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-28-10_983631233/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-28-10_983631233/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6e649e85d3c535cab9f96dec5c93ab8e0433b4e5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-28-10_983631233/pose.jsonl @@ -0,0 +1,183 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 841.6988515987558, + -326.7115663411647, + -8.957837443948723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 843.1988515987558, + -324.1134901298114, + -8.957837443948723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 844.6988515987558, + -321.5154139184581, + -8.957837443948723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 846.1988515987558, + -318.91733770710476, + -8.957837443948723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 847.6988515987558, + -316.31926149575145, + -8.957837443948723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 849.1988515987558, + -313.72118528439813, + -8.957837443948723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 850.6988515987558, + -311.1231090730448, + -8.957837443948723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 852.1988515987558, + -308.5250328616915, + -8.957837443948723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 853.6988515987558, + -305.9269566503382, + -8.957837443948723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 855.1988515987558, + -303.32888043898487, + -8.957837443948723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 856.6988515987558, + -300.73080422763155, + -8.957837443948723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 858.1988515987558, + -298.13272801627824, + -8.957837443948723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 859.6988515987558, + -295.5346518049249, + -8.957837443948723 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 871.2010513305664, + -278.09218101501466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-29-6_1635550270/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-29-6_1635550270/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c381394fd111dedae416f6ffa3e2f19655f9dd95 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-29-6_1635550270/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 585.1585675525807, + -370.5010628640267, + -9.36736109525415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 582.1585675525807, + -370.5010628640267, + -9.36736109525415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 579.1585675525807, + -370.5010628640267, + -9.36736109525415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 576.1585675525807, + -370.5010628640267, + -9.36736109525415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 573.1585675525807, + -370.5010628640267, + -9.36736109525415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 570.1585675525807, + -370.5010628640267, + -9.36736109525415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 567.1585675525807, + -370.5010628640267, + -9.36736109525415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 564.1585675525807, + -370.5010628640267, + -9.36736109525415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 561.1585675525807, + -370.5010628640267, + -9.36736109525415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 558.1585675525807, + -370.5010628640267, + -9.36736109525415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 555.1585675525807, + -370.5010628640267, + -9.36736109525415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 552.1585675525807, + -370.5010628640267, + -9.36736109525415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 549.1585675525807, + -370.5010628640267, + -9.36736109525415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 546.1585675525807, + -370.5010628640267, + -9.36736109525415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 543.1585675525807, + -370.5010628640267, + -9.36736109525415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 540.1585675525807, + -370.5010628640267, + -9.36736109525415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 537.1585675525807, + -370.5010628640267, + -9.36736109525415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 534.1585675525807, + -370.5010628640267, + -9.36736109525415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 531.1585675525807, + -370.5010628640267, + -9.36736109525415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 528.1585675525807, + -370.5010628640267, + -9.36736109525415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 525.1585675525807, + -370.5010628640267, + -9.36736109525415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 522.1585675525807, + -370.5010628640267, + -9.36736109525415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 519.1585675525807, + -370.5010628640267, + -9.36736109525415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 516.1585675525807, + -370.5010628640267, + -9.36736109525415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 513.1585675525807, + -370.5010628640267, + -9.36736109525415 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 513.1585675525807, + -370.5010628640267, + -9.36736109525415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 510.5604913412274, + -369.0010628640267, + -9.36736109525415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 507.9624151298741, + -367.5010628640267, + -9.36736109525415 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 507.2775932312012, + -365.6789970397949, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-34-29_1210359231/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-34-29_1210359231/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..afb5cf86c1e25fab9f6e05f0dfb711f0e95220d4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-34-29_1210359231/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -113.072732863205, + 76.7571441190463, + -2.203818656285814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -110.072732863205, + 76.7571441190463, + -2.203818656285814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -107.072732863205, + 76.7571441190463, + -2.203818656285814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -104.072732863205, + 76.7571441190463, + -2.203818656285814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -101.072732863205, + 76.7571441190463, + -2.203818656285814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -98.072732863205, + 76.7571441190463, + -2.203818656285814 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -98.072732863205, + 76.7571441190463, + -2.203818656285814 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -98.072732863205, + 76.7571441190463, + -2.203818656285814 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -96.572732863205, + 79.35522033039962, + -2.203818656285814 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -95.072732863205, + 81.95329654175293, + -2.203818656285814 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -93.572732863205, + 84.55137275310625, + -2.203818656285814 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -92.072732863205, + 87.14944896445957, + -2.203818656285814 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -90.572732863205, + 89.74752517581288, + -2.203818656285814 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -89.072732863205, + 92.3456013871662, + -2.203818656285814 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -87.572732863205, + 94.94367759851951, + -2.203818656285814 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -86.072732863205, + 97.54175380987283, + -2.203818656285814 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -84.572732863205, + 100.13983002122615, + -2.203818656285814 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -83.072732863205, + 102.73790623257946, + -2.203818656285814 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -81.572732863205, + 105.33598244393278, + -2.203818656285814 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -80.072732863205, + 107.9340586552861, + -2.203818656285814 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -80.072732863205, + 107.9340586552861, + -2.203818656285814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -77.47465665185169, + 109.4340586552861, + -2.203818656285814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -74.87658044049837, + 110.9340586552861, + -2.203818656285814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -72.27850422914506, + 112.4340586552861, + -2.203818656285814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -69.68042801779174, + 113.9340586552861, + -2.203818656285814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -67.08235180643842, + 115.4340586552861, + -2.203818656285814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -64.48427559508511, + 116.9340586552861, + -2.203818656285814 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -61.88619938373179, + 118.4340586552861, + -2.203818656285814 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -58.67859439849854, + 118.20751323699952, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-35-33_1983614030/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-35-33_1983614030/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..635c726a515509428ecb7ee5b16ead1caa637afb --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-35-33_1983614030/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1230.0751961888207, + 179.71631356231208, + -9.801117394966115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1230.0751961888207, + 182.71631356231208, + -9.801117394966115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1230.0751961888207, + 185.71631356231208, + -9.801117394966115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1230.0751961888207, + 188.71631356231208, + -9.801117394966115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1230.0751961888207, + 191.71631356231208, + -9.801117394966115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1230.0751961888207, + 194.71631356231208, + -9.801117394966115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1230.0751961888207, + 197.71631356231208, + -9.801117394966115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1230.0751961888207, + 200.71631356231208, + -9.801117394966115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1230.0751961888207, + 203.71631356231208, + -9.801117394966115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1230.0751961888207, + 206.71631356231208, + -9.801117394966115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1230.0751961888207, + 209.71631356231208, + -9.801117394966115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1230.0751961888207, + 212.71631356231208, + -9.801117394966115 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1230.0751961888207, + 212.71631356231208, + -9.801117394966115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1231.5751961888207, + 215.3143897736654, + -9.801117394966115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1233.0751961888207, + 217.9124659850187, + -9.801117394966115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1234.5751961888207, + 220.51054219637203, + -9.801117394966115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1236.0751961888207, + 223.10861840772534, + -9.801117394966115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1237.5751961888207, + 225.70669461907866, + -9.801117394966115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1239.0751961888207, + 228.30477083043198, + -9.801117394966115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1240.5751961888207, + 230.9028470417853, + -9.801117394966115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1242.0751961888207, + 233.5009232531386, + -9.801117394966115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1243.5751961888207, + 236.09899946449192, + -9.801117394966115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1245.0751961888207, + 238.69707567584524, + -9.801117394966115 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1243.735294342041, + 241.00056648254397, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-36-36_371653516/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-36-36_371653516/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..829fe69daaa41ee4880ffdef27b5ecb117b6a115 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-36-36_371653516/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -247.20307421779495, + 96.6369246564845, + -0.26993906921640587 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -247.20307421779495, + 93.6369246564845, + -0.26993906921640587 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -247.20307421779495, + 90.6369246564845, + -0.26993906921640587 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -247.20307421779495, + 87.6369246564845, + -0.26993906921640587 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -247.20307421779495, + 84.6369246564845, + -0.26993906921640587 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -247.20307421779495, + 81.6369246564845, + -0.26993906921640587 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -247.20307421779495, + 78.6369246564845, + -0.26993906921640587 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -247.20307421779495, + 75.6369246564845, + -0.26993906921640587 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -247.20307421779495, + 72.6369246564845, + -0.26993906921640587 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -247.20307421779495, + 72.6369246564845, + -0.26993906921640587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -248.70307421779495, + 70.03884844513118, + -0.26993906921640587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -250.20307421779495, + 67.44077223377786, + -0.26993906921640587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -251.70307421779495, + 64.84269602242455, + -0.26993906921640587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -253.20307421779495, + 62.24461981107123, + -0.26993906921640587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -254.70307421779495, + 59.646543599717916, + -0.26993906921640587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -256.20307421779495, + 57.0484673883646, + -0.26993906921640587 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -257.70307421779495, + 54.450391177011284, + -0.26993906921640587 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -257.70307421779495, + 54.450391177011284, + -0.26993906921640587 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -257.70307421779495, + 51.450391177011284, + -0.26993906921640587 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -257.70307421779495, + 48.450391177011284, + -0.26993906921640587 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -259.2387418746948, + 45.236197376251226, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-49-17_1388803074/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-49-17_1388803074/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ff1a4d498faadcfe034f896514769de3b4be52a2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-49-17_1388803074/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -68.34347628831027, + -158.9160407736592, + -4.578464682294214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -70.94155249966359, + -157.4160407736592, + -4.578464682294214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -73.5396287110169, + -155.9160407736592, + -4.578464682294214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -76.13770492237022, + -154.4160407736592, + -4.578464682294214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -78.73578113372353, + -152.9160407736592, + -4.578464682294214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -81.33385734507685, + -151.4160407736592, + -4.578464682294214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -83.93193355643017, + -149.9160407736592, + -4.578464682294214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -86.53000976778348, + -148.4160407736592, + -4.578464682294214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -89.1280859791368, + -146.9160407736592, + -4.578464682294214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -91.72616219049011, + -145.4160407736592, + -4.578464682294214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -94.32423840184343, + -143.9160407736592, + -4.578464682294214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -96.92231461319675, + -142.4160407736592, + -4.578464682294214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -99.52039082455006, + -140.9160407736592, + -4.578464682294214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -102.11846703590338, + -139.4160407736592, + -4.578464682294214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -104.7165432472567, + -137.9160407736592, + -4.578464682294214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -107.31461945861001, + -136.4160407736592, + -4.578464682294214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -109.91269566996333, + -134.9160407736592, + -4.578464682294214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -112.51077188131664, + -133.4160407736592, + -4.578464682294214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -115.10884809266996, + -131.9160407736592, + -4.578464682294214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -117.70692430402327, + -130.4160407736592, + -4.578464682294214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -120.30500051537659, + -128.9160407736592, + -4.578464682294214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -122.9030767267299, + -127.4160407736592, + -4.578464682294214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -125.50115293808322, + -125.9160407736592, + -4.578464682294214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -128.09922914943655, + -124.4160407736592, + -4.578464682294214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -130.69730536078987, + -122.9160407736592, + -4.578464682294214 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-52-1_406011017/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-52-1_406011017/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..622bd4539243cf8e4c627e736f76ef4b20fec134 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-52-1_406011017/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -209.42074756289475, + -104.46944424289318, + -6.4094815013350255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -209.42074756289475, + -107.46944424289318, + -6.4094815013350255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -209.42074756289475, + -110.46944424289318, + -6.4094815013350255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -209.42074756289475, + -113.46944424289318, + -6.4094815013350255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -209.42074756289475, + -116.46944424289318, + -6.4094815013350255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -209.42074756289475, + -119.46944424289318, + -6.4094815013350255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -209.42074756289475, + -122.46944424289318, + -6.4094815013350255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -209.42074756289475, + -125.46944424289318, + -6.4094815013350255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -209.42074756289475, + -128.4694442428932, + -6.4094815013350255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -209.42074756289475, + -131.4694442428932, + -6.4094815013350255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -209.42074756289475, + -134.4694442428932, + -6.4094815013350255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -209.42074756289475, + -137.4694442428932, + -6.4094815013350255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -209.42074756289475, + -140.4694442428932, + -6.4094815013350255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -209.42074756289475, + -143.4694442428932, + -6.4094815013350255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -209.42074756289475, + -146.4694442428932, + -6.4094815013350255 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -209.42074756289475, + -146.4694442428932, + -6.4094815013350255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -207.92074756289475, + -149.0675204542465, + -6.4094815013350255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -206.42074756289475, + -151.66559666559982, + -6.4094815013350255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -204.92074756289475, + -154.26367287695314, + -6.4094815013350255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -203.42074756289475, + -156.86174908830645, + -6.4094815013350255 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-52-25_114760235/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-52-25_114760235/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..88811b89a743920c884128aff24be418581a67d7 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-52-25_114760235/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 343.61538562739554, + -235.26274718059835, + -7.594610248596291 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 346.61538562739554, + -235.26274718059835, + -7.594610248596291 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 349.61538562739554, + -235.26274718059835, + -7.594610248596291 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 352.61538562739554, + -235.26274718059835, + -7.594610248596291 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 355.61538562739554, + -235.26274718059835, + -7.594610248596291 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 358.61538562739554, + -235.26274718059835, + -7.594610248596291 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 361.61538562739554, + -235.26274718059835, + -7.594610248596291 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 364.61538562739554, + -235.26274718059835, + -7.594610248596291 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 367.61538562739554, + -235.26274718059835, + -7.594610248596291 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 370.61538562739554, + -235.26274718059835, + -7.594610248596291 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 370.61538562739554, + -235.26274718059835, + -7.594610248596291 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 373.21346183874886, + -236.76274718059835, + -7.594610248596291 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 375.8115380501022, + -238.26274718059835, + -7.594610248596291 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 378.4096142614555, + -239.76274718059835, + -7.594610248596291 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 381.0076904728088, + -241.26274718059835, + -7.594610248596291 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 383.6057666841621, + -242.76274718059835, + -7.594610248596291 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 386.20384289551544, + -244.26274718059835, + -7.594610248596291 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 388.80191910686875, + -245.76274718059835, + -7.594610248596291 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 391.39999531822207, + -247.26274718059835, + -7.594610248596291 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 393.9980715295754, + -248.76274718059835, + -7.594610248596291 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 396.5961477409287, + -250.26274718059835, + -7.594610248596291 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 417.240055847168, + -253.0383457183838, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-59-10_659639006/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-59-10_659639006/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a7c3f59f4e68ab294cc8f57e816d0daa692a017e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_21-59-10_659639006/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1582.4713579842319, + -125.67121598239586, + -6.781216610561138 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1579.4713579842319, + -125.67121598239586, + -6.781216610561138 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1576.4713579842319, + -125.67121598239586, + -6.781216610561138 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1573.4713579842319, + -125.67121598239586, + -6.781216610561138 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1570.4713579842319, + -125.67121598239586, + -6.781216610561138 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1567.4713579842319, + -125.67121598239586, + -6.781216610561138 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1564.4713579842319, + -125.67121598239586, + -6.781216610561138 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1561.4713579842319, + -125.67121598239586, + -6.781216610561138 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1558.4713579842319, + -125.67121598239586, + -6.781216610561138 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1558.4713579842319, + -125.67121598239586, + -6.781216610561138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1555.8732817728785, + -124.17121598239586, + -6.781216610561138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1553.2752055615251, + -122.67121598239586, + -6.781216610561138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1550.6771293501718, + -121.17121598239586, + -6.781216610561138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1548.0790531388184, + -119.67121598239586, + -6.781216610561138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1545.480976927465, + -118.17121598239586, + -6.781216610561138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1542.8829007161116, + -116.67121598239586, + -6.781216610561138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1540.2848245047583, + -115.17121598239586, + -6.781216610561138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1537.686748293405, + -113.67121598239586, + -6.781216610561138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1535.0886720820515, + -112.17121598239586, + -6.781216610561138 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1517.6720581054688, + -108.54975051879883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-1-41_1814887560/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-1-41_1814887560/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1d404914a87dee10590e191657462d8236a7e6bb --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-1-41_1814887560/pose.jsonl @@ -0,0 +1,235 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 554.2738112603637, + 70.77630018726859, + -1.643114211047159 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 556.871887471717, + 69.27630018726859, + -1.643114211047159 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 559.4699636830703, + 67.77630018726859, + -1.643114211047159 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 562.0680398944237, + 66.27630018726859, + -1.643114211047159 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 564.6661161057771, + 64.77630018726859, + -1.643114211047159 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 567.2641923171304, + 63.27630018726859, + -1.643114211047159 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 569.8622685284838, + 61.77630018726859, + -1.643114211047159 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 572.4603447398372, + 60.27630018726859, + -1.643114211047159 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 575.0584209511906, + 58.77630018726859, + -1.643114211047159 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 577.6564971625439, + 57.27630018726859, + -1.643114211047159 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 580.2545733738973, + 55.77630018726859, + -1.643114211047159 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 582.8526495852507, + 54.27630018726859, + -1.643114211047159 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 585.450725796604, + 52.77630018726859, + -1.643114211047159 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 585.450725796604, + 52.77630018726859, + -1.643114211047159 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 588.450725796604, + 52.77630018726859, + -1.643114211047159 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 591.450725796604, + 52.77630018726859, + -1.643114211047159 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 594.450725796604, + 52.77630018726859, + -1.643114211047159 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 611.1197254180909, + 43.554152965545654, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-13-23_204102747/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-13-23_204102747/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b5c28416a33825b55e2a93a826264a0189bd6c0a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-13-23_204102747/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 553.7181994998579, + -205.29383774964768, + -4.91525175903411 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 551.1201232885046, + -206.79383774964768, + -4.91525175903411 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 548.5220470771512, + -208.29383774964768, + -4.91525175903411 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 545.9239708657979, + -209.79383774964768, + -4.91525175903411 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 543.3258946544445, + -211.29383774964768, + -4.91525175903411 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 540.7278184430911, + -212.79383774964768, + -4.91525175903411 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 538.1297422317377, + -214.29383774964768, + -4.91525175903411 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 535.5316660203844, + -215.79383774964768, + -4.91525175903411 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 532.933589809031, + -217.29383774964768, + -4.91525175903411 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 530.3355135976776, + -218.79383774964768, + -4.91525175903411 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 527.7374373863242, + -220.29383774964768, + -4.91525175903411 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 525.1393611749709, + -221.79383774964768, + -4.91525175903411 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 522.5412849636175, + -223.29383774964768, + -4.91525175903411 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 522.5412849636175, + -223.29383774964768, + -4.91525175903411 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 519.5412849636175, + -223.29383774964768, + -4.91525175903411 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 516.5412849636175, + -223.29383774964768, + -4.91525175903411 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 513.5412849636175, + -223.29383774964768, + -4.91525175903411 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 510.5412849636175, + -223.29383774964768, + -4.91525175903411 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 507.5412849636175, + -223.29383774964768, + -4.91525175903411 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 504.5412849636175, + -223.29383774964768, + -4.91525175903411 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 485.3397609710694, + -231.23137340545657, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-2-32_1434433518/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-2-32_1434433518/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fc52fa8707dc9d2e3acd778d2d35857e00200cf3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-2-32_1434433518/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 569.1413121157921, + 293.5472031462195, + -2.4532154503578507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 566.1413121157921, + 293.5472031462195, + -2.4532154503578507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 563.1413121157921, + 293.5472031462195, + -2.4532154503578507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 560.1413121157921, + 293.5472031462195, + -2.4532154503578507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 557.1413121157921, + 293.5472031462195, + -2.4532154503578507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 554.1413121157921, + 293.5472031462195, + -2.4532154503578507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 551.1413121157921, + 293.5472031462195, + -2.4532154503578507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 548.1413121157921, + 293.5472031462195, + -2.4532154503578507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 545.1413121157921, + 293.5472031462195, + -2.4532154503578507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 542.1413121157921, + 293.5472031462195, + -2.4532154503578507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 539.1413121157921, + 293.5472031462195, + -2.4532154503578507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 536.1413121157921, + 293.5472031462195, + -2.4532154503578507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 533.1413121157921, + 293.5472031462195, + -2.4532154503578507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 530.1413121157921, + 293.5472031462195, + -2.4532154503578507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 527.1413121157921, + 293.5472031462195, + -2.4532154503578507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 524.1413121157921, + 293.5472031462195, + -2.4532154503578507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 521.1413121157921, + 293.5472031462195, + -2.4532154503578507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 518.1413121157921, + 293.5472031462195, + -2.4532154503578507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 515.1413121157921, + 293.5472031462195, + -2.4532154503578507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 512.1413121157921, + 293.5472031462195, + -2.4532154503578507 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 509.14131211579206, + 293.5472031462195, + -2.4532154503578507 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 509.14131211579206, + 293.5472031462195, + -2.4532154503578507 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 509.14131211579206, + 293.5472031462195, + -2.4532154503578507 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 507.64131211579206, + 290.9491269348662, + -2.4532154503578507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 506.14131211579206, + 288.35105072351286, + -2.4532154503578507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 504.64131211579206, + 285.75297451215954, + -2.4532154503578507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 503.14131211579206, + 283.1548983008062, + -2.4532154503578507 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 501.64131211579206, + 280.5568220894529, + -2.4532154503578507 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 498.19472236633305, + 281.0884632110596, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-22-25_1470332231/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-22-25_1470332231/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2f66180e2af69425a96ca3fca9c37bf9095c9b36 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-22-25_1470332231/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -6.359439087373634, + -44.78827064364122, + -6.556631991666519 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -4.859439087373634, + -42.1901944322879, + -6.556631991666519 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -3.3594390873736333, + -39.59211822093459, + -6.556631991666519 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1.8594390873736328, + -36.99404200958127, + -6.556631991666519 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -0.3594390873736324, + -34.395965798227955, + -6.556631991666519 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1.140560912626368, + -31.79788958687464, + -6.556631991666519 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2.6405609126263685, + -29.199813375521323, + -6.556631991666519 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4.140560912626369, + -26.601737164168007, + -6.556631991666519 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 5.64056091262637, + -24.00366095281469, + -6.556631991666519 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 7.14056091262637, + -21.405584741461375, + -6.556631991666519 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 8.64056091262637, + -18.80750853010806, + -6.556631991666519 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 10.14056091262637, + -16.209432318754743, + -6.556631991666519 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 11.64056091262637, + -13.611356107401427, + -6.556631991666519 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 13.14056091262637, + -11.013279896048111, + -6.556631991666519 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 14.64056091262637, + -8.415203684694795, + -6.556631991666519 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 16.14056091262637, + -5.817127473341479, + -6.556631991666519 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 17.64056091262637, + -3.219051261988163, + -6.556631991666519 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 19.14056091262637, + -0.620975050634847, + -6.556631991666519 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 19.14056091262637, + -0.620975050634847, + -6.556631991666519 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 19.14056091262637, + -0.620975050634847, + -6.556631991666519 + ], + "type": "go straight", + "value": 3, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 22.14056091262637, + -0.620975050634847, + -6.556631991666519 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 25.14056091262637, + -0.620975050634847, + -6.556631991666519 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 28.14056091262637, + -0.620975050634847, + -6.556631991666519 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.34878616333008, + 1.572951889038086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-29-54_1442767057/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-29-54_1442767057/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..46694c98dea0cbcf9c2875f5ffd2eecfe035817c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-29-54_1442767057/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 492.00311056368474, + -466.0246703547805, + -8.392196111499453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 492.00311056368474, + -463.0246703547805, + -8.392196111499453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 492.00311056368474, + -460.0246703547805, + -8.392196111499453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 492.00311056368474, + -457.0246703547805, + -8.392196111499453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 492.00311056368474, + -454.0246703547805, + -8.392196111499453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 492.00311056368474, + -451.0246703547805, + -8.392196111499453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 492.00311056368474, + -448.0246703547805, + -8.392196111499453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 492.00311056368474, + -445.0246703547805, + -8.392196111499453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 492.00311056368474, + -442.0246703547805, + -8.392196111499453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 492.00311056368474, + -439.0246703547805, + -8.392196111499453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 492.00311056368474, + -436.0246703547805, + -8.392196111499453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 492.00311056368474, + -433.0246703547805, + -8.392196111499453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 492.00311056368474, + -430.0246703547805, + -8.392196111499453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 492.00311056368474, + -427.0246703547805, + -8.392196111499453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 492.00311056368474, + -424.0246703547805, + -8.392196111499453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 492.00311056368474, + -421.0246703547805, + -8.392196111499453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 492.00311056368474, + -418.0246703547805, + -8.392196111499453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 492.00311056368474, + -415.0246703547805, + -8.392196111499453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 492.00311056368474, + -412.0246703547805, + -8.392196111499453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 492.00311056368474, + -409.0246703547805, + -8.392196111499453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 492.00311056368474, + -406.0246703547805, + -8.392196111499453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 492.00311056368474, + -403.0246703547805, + -8.392196111499453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 492.00311056368474, + -400.0246703547805, + -8.392196111499453 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 492.00311056368474, + -400.0246703547805, + -8.392196111499453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 493.50311056368474, + -397.42659414342717, + -8.392196111499453 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 495.27006835937505, + -393.85822601318364, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-38-57_164826621/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-38-57_164826621/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c7fd5d10e40ddeacbcb245e974e9389e50db8bf4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-38-57_164826621/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 233.499363167959, + -353.8909960517787, + -2.831442076394085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 236.499363167959, + -353.8909960517787, + -2.831442076394085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 239.499363167959, + -353.8909960517787, + -2.831442076394085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 242.499363167959, + -353.8909960517787, + -2.831442076394085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 245.499363167959, + -353.8909960517787, + -2.831442076394085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 248.499363167959, + -353.8909960517787, + -2.831442076394085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 251.499363167959, + -353.8909960517787, + -2.831442076394085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 254.499363167959, + -353.8909960517787, + -2.831442076394085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 257.499363167959, + -353.8909960517787, + -2.831442076394085 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 257.499363167959, + -353.8909960517787, + -2.831442076394085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 260.09743937931233, + -352.3909960517787, + -2.831442076394085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 262.69551559066565, + -350.8909960517787, + -2.831442076394085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 265.29359180201897, + -349.3909960517787, + -2.831442076394085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 267.8916680133723, + -347.8909960517787, + -2.831442076394085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 270.4897442247256, + -346.3909960517787, + -2.831442076394085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 273.0878204360789, + -344.8909960517787, + -2.831442076394085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 275.68589664743223, + -343.3909960517787, + -2.831442076394085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 278.28397285878555, + -341.8909960517787, + -2.831442076394085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 280.88204907013886, + -340.3909960517787, + -2.831442076394085 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 284.2394945144654, + -340.45848770141606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-42-20_787689126/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-42-20_787689126/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e3b65ba4622cee1267321cc2083ee57497ebfe04 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-42-20_787689126/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 81.51906171494572, + -6.9820269981205065, + -4.191007899219958 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 78.51906171494572, + -6.9820269981205065, + -4.191007899219958 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 75.51906171494572, + -6.9820269981205065, + -4.191007899219958 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 72.51906171494572, + -6.9820269981205065, + -4.191007899219958 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 69.51906171494572, + -6.9820269981205065, + -4.191007899219958 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 66.51906171494572, + -6.9820269981205065, + -4.191007899219958 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 63.51906171494572, + -6.9820269981205065, + -4.191007899219958 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 60.51906171494572, + -6.9820269981205065, + -4.191007899219958 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 57.51906171494572, + -6.9820269981205065, + -4.191007899219958 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 54.51906171494572, + -6.9820269981205065, + -4.191007899219958 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 54.51906171494572, + -6.9820269981205065, + -4.191007899219958 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 51.920985503592405, + -5.4820269981205065, + -4.191007899219958 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 49.32290929223909, + -3.9820269981205065, + -4.191007899219958 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 46.72483308088577, + -2.4820269981205065, + -4.191007899219958 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 44.12675686953246, + -0.9820269981205068, + -4.191007899219958 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 41.52868065817914, + 0.517973001879493, + -4.191007899219958 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 38.930604446825825, + 2.0179730018794926, + -4.191007899219958 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 36.33252823547251, + 3.5179730018794926, + -4.191007899219958 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 33.73445202411919, + 5.017973001879493, + -4.191007899219958 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 31.950906944274905, + 5.022578048706055, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-43-35_928140528/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-43-35_928140528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..112c64a3ac86dbe5b50fb12cb7541a7f839aa484 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_22-43-35_928140528/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 129.27584476785054, + -210.18508462427837, + -5.15375898401453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 130.77584476785054, + -212.7831608356317, + -5.15375898401453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 132.27584476785054, + -215.381237046985, + -5.15375898401453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 133.77584476785054, + -217.97931325833832, + -5.15375898401453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 135.27584476785054, + -220.57738946969164, + -5.15375898401453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 136.77584476785054, + -223.17546568104495, + -5.15375898401453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 138.27584476785054, + -225.77354189239827, + -5.15375898401453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 139.77584476785054, + -228.3716181037516, + -5.15375898401453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 141.27584476785054, + -230.9696943151049, + -5.15375898401453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 142.77584476785054, + -233.56777052645822, + -5.15375898401453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 144.27584476785054, + -236.16584673781153, + -5.15375898401453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 145.77584476785054, + -238.76392294916485, + -5.15375898401453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 147.27584476785054, + -241.36199916051817, + -5.15375898401453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 148.77584476785054, + -243.96007537187148, + -5.15375898401453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 150.27584476785054, + -246.5581515832248, + -5.15375898401453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 151.77584476785054, + -249.15622779457811, + -5.15375898401453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 153.27584476785054, + -251.75430400593143, + -5.15375898401453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 154.77584476785054, + -254.35238021728475, + -5.15375898401453 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 154.77584476785054, + -254.35238021728475, + -5.15375898401453 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 157.37392097920386, + -255.85238021728475, + -5.15375898401453 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 159.97199719055718, + -257.35238021728475, + -5.15375898401453 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 162.22081546783448, + -258.53322582244874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-1-32_1723578341/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-1-32_1723578341/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad4de064c59bed3f7d2fc3876a9354ef032335c4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-1-32_1723578341/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -391.68569970360574, + -44.996570810478474, + -1.2365346616434518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -389.0876234922524, + -46.496570810478474, + -1.2365346616434518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -386.4895472808991, + -47.996570810478474, + -1.2365346616434518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -383.8914710695458, + -49.496570810478474, + -1.2365346616434518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -381.29339485819247, + -50.996570810478474, + -1.2365346616434518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -378.69531864683916, + -52.496570810478474, + -1.2365346616434518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -376.09724243548584, + -53.996570810478474, + -1.2365346616434518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -373.4991662241325, + -55.496570810478474, + -1.2365346616434518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -370.9010900127792, + -56.996570810478474, + -1.2365346616434518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -368.3030138014259, + -58.496570810478474, + -1.2365346616434518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -365.7049375900726, + -59.996570810478474, + -1.2365346616434518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -363.10686137871926, + -61.496570810478474, + -1.2365346616434518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -360.50878516736594, + -62.996570810478474, + -1.2365346616434518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -357.9107089560126, + -64.49657081047847, + -1.2365346616434518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -355.3126327446593, + -65.99657081047847, + -1.2365346616434518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -352.714556533306, + -67.49657081047847, + -1.2365346616434518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -350.1164803219527, + -68.99657081047847, + -1.2365346616434518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -347.51840411059936, + -70.49657081047847, + -1.2365346616434518 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -347.51840411059936, + -70.49657081047847, + -1.2365346616434518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -346.01840411059936, + -73.09464702183179, + -1.2365346616434518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -344.51840411059936, + -75.6927232331851, + -1.2365346616434518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -343.01840411059936, + -78.29079944453842, + -1.2365346616434518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -341.51840411059936, + -80.88887565589174, + -1.2365346616434518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -340.01840411059936, + -83.48695186724505, + -1.2365346616434518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -338.51840411059936, + -86.08502807859837, + -1.2365346616434518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -337.01840411059936, + -88.68310428995169, + -1.2365346616434518 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.7922431945801, + -91.63226652145386, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-17-18_1499150323/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-17-18_1499150323/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ccc105401d6200d3d8a0f2fd956294f1f727e7e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-17-18_1499150323/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -260.7686876007372, + -127.17111956313258, + -8.652957085943832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -258.1706113893839, + -128.67111956313258, + -8.652957085943832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -255.5725351780306, + -130.17111956313258, + -8.652957085943832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -252.97445896667728, + -131.67111956313258, + -8.652957085943832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -250.37638275532396, + -133.17111956313258, + -8.652957085943832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -247.77830654397064, + -134.67111956313258, + -8.652957085943832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -245.18023033261733, + -136.17111956313258, + -8.652957085943832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -242.582154121264, + -137.67111956313258, + -8.652957085943832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -239.9840779099107, + -139.17111956313258, + -8.652957085943832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -237.38600169855738, + -140.67111956313258, + -8.652957085943832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -234.78792548720406, + -142.17111956313258, + -8.652957085943832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -232.18984927585075, + -143.67111956313258, + -8.652957085943832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -229.59177306449743, + -145.17111956313258, + -8.652957085943832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -226.99369685314412, + -146.67111956313258, + -8.652957085943832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -224.3956206417908, + -148.17111956313258, + -8.652957085943832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -221.79754443043748, + -149.67111956313258, + -8.652957085943832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -219.19946821908417, + -151.17111956313258, + -8.652957085943832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -216.60139200773085, + -152.67111956313258, + -8.652957085943832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -214.00331579637754, + -154.17111956313258, + -8.652957085943832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -211.40523958502422, + -155.67111956313258, + -8.652957085943832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -208.8071633736709, + -157.17111956313258, + -8.652957085943832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -206.2090871623176, + -158.67111956313258, + -8.652957085943832 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-19-50_333293469/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-19-50_333293469/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8536b5667c469432c2e961812cd22e56882f45c4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-19-50_333293469/pose.jsonl @@ -0,0 +1,235 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 972.6337934677816, + -203.37777081632657, + -4.379131498213814 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 975.2318696791349, + -204.87777081632657, + -4.379131498213814 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 977.8299458904883, + -206.37777081632657, + -4.379131498213814 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 980.4280221018416, + -207.87777081632657, + -4.379131498213814 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 983.026098313195, + -209.37777081632657, + -4.379131498213814 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 985.6241745245484, + -210.87777081632657, + -4.379131498213814 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 988.2222507359018, + -212.37777081632657, + -4.379131498213814 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 990.8203269472551, + -213.87777081632657, + -4.379131498213814 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 993.4184031586085, + -215.37777081632657, + -4.379131498213814 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 996.0164793699619, + -216.87777081632657, + -4.379131498213814 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 998.6145555813152, + -218.37777081632657, + -4.379131498213814 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1001.2126317926686, + -219.87777081632657, + -4.379131498213814 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1003.810708004022, + -221.37777081632657, + -4.379131498213814 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1006.4087842153754, + -222.87777081632657, + -4.379131498213814 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1009.0068604267287, + -224.37777081632657, + -4.379131498213814 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1011.6049366380821, + -225.87777081632657, + -4.379131498213814 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1014.2030128494355, + -227.37777081632657, + -4.379131498213814 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1031.390993499756, + -240.8672115325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-21-4_1172063133/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-21-4_1172063133/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dfdaca87f3bf4b162b528afd292daab8d8d5a612 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-21-4_1172063133/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 798.0798051035542, + -509.00350303822535, + -6.352491727911685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 796.5798051035542, + -506.40542682687203, + -6.352491727911685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 795.0798051035542, + -503.8073506155187, + -6.352491727911685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 793.5798051035542, + -501.2092744041654, + -6.352491727911685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 792.0798051035542, + -498.6111981928121, + -6.352491727911685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 790.5798051035542, + -496.01312198145877, + -6.352491727911685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 789.0798051035542, + -493.41504577010545, + -6.352491727911685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 787.5798051035542, + -490.81696955875213, + -6.352491727911685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 786.0798051035542, + -488.2188933473988, + -6.352491727911685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 784.5798051035542, + -485.6208171360455, + -6.352491727911685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 783.0798051035542, + -483.0227409246922, + -6.352491727911685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 781.5798051035542, + -480.42466471333887, + -6.352491727911685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 780.0798051035542, + -477.82658850198555, + -6.352491727911685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 778.5798051035542, + -475.22851229063224, + -6.352491727911685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 777.0798051035542, + -472.6304360792789, + -6.352491727911685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 775.5798051035542, + -470.0323598679256, + -6.352491727911685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 774.0798051035542, + -467.4342836565723, + -6.352491727911685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 772.5798051035542, + -464.836207445219, + -6.352491727911685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 771.0798051035542, + -462.23813123386566, + -6.352491727911685 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 771.0798051035542, + -462.23813123386566, + -6.352491727911685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 771.0798051035542, + -459.23813123386566, + -6.352491727911685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 771.0798051035542, + -456.23813123386566, + -6.352491727911685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 771.0798051035542, + -453.23813123386566, + -6.352491727911685 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 770.3367736816407, + -451.65129089355474, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-29-22_28264029/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-29-22_28264029/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7094cb8a93c34d7294c08b6b7f38053f7b6d3d95 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-29-22_28264029/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1468.126973189794, + 93.959933666983, + -3.375669661921526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1466.626973189794, + 96.55800987833632, + -3.375669661921526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1465.126973189794, + 99.15608608968964, + -3.375669661921526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1463.626973189794, + 101.75416230104295, + -3.375669661921526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1462.126973189794, + 104.35223851239627, + -3.375669661921526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1460.626973189794, + 106.95031472374959, + -3.375669661921526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1459.126973189794, + 109.5483909351029, + -3.375669661921526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1457.626973189794, + 112.14646714645622, + -3.375669661921526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1456.126973189794, + 114.74454335780953, + -3.375669661921526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1454.626973189794, + 117.34261956916285, + -3.375669661921526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1453.126973189794, + 119.94069578051617, + -3.375669661921526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1451.626973189794, + 122.53877199186948, + -3.375669661921526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1450.126973189794, + 125.1368482032228, + -3.375669661921526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1448.626973189794, + 127.73492441457611, + -3.375669661921526 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1448.626973189794, + 127.73492441457611, + -3.375669661921526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1446.0288969784406, + 129.2349244145761, + -3.375669661921526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1443.4308207670872, + 130.7349244145761, + -3.375669661921526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1440.8327445557338, + 132.2349244145761, + -3.375669661921526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1438.2346683443805, + 133.7349244145761, + -3.375669661921526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1435.636592133027, + 135.2349244145761, + -3.375669661921526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1433.0385159216737, + 136.7349244145761, + -3.375669661921526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1430.4404397103203, + 138.2349244145761, + -3.375669661921526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1427.842363498967, + 139.7349244145761, + -3.375669661921526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1425.2442872876136, + 141.2349244145761, + -3.375669661921526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1422.6462110762602, + 142.7349244145761, + -3.375669661921526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1420.0481348649068, + 144.2349244145761, + -3.375669661921526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1417.4500586535535, + 145.7349244145761, + -3.375669661921526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1414.8519824422, + 147.2349244145761, + -3.375669661921526 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1412.2539062308467, + 148.7349244145761, + -3.375669661921526 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1412.041893005371, + 150.22052021026613, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-47-31_1862558705/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-47-31_1862558705/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..795b558ffdd89133633067529a03cb6b8b3725dc --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-47-31_1862558705/pose.jsonl @@ -0,0 +1,105 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1500.9959247457464, + -81.11766457452586, + -3.0371025733945043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1502.4959247457464, + -78.51958836317255, + -3.0371025733945043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1503.9959247457464, + -75.92151215181923, + -3.0371025733945043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1505.4959247457464, + -73.32343594046591, + -3.0371025733945043 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1505.4959247457464, + -73.32343594046591, + -3.0371025733945043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1505.4959247457464, + -70.32343594046591, + -3.0371025733945043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1505.4959247457464, + -67.32343594046591, + -3.0371025733945043 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.3544021606447, + -28.02864229679108, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-51-5_1028363610/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-51-5_1028363610/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3f6998762dac2ea148e6bc04d0a50b1a5ac364fa --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-51-5_1028363610/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2.910534859120979, + -406.4531279371822, + -8.038925606892168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1.4105348591209796, + -403.8550517258289, + -8.038925606892168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -0.08946514087901969, + -401.2569755144756, + -8.038925606892168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1.589465140879019, + -398.65889930312227, + -8.038925606892168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -3.0894651408790184, + -396.06082309176895, + -8.038925606892168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -4.5894651408790175, + -393.46274688041564, + -8.038925606892168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -6.089465140879017, + -390.8646706690623, + -8.038925606892168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -7.589465140879016, + -388.266594457709, + -8.038925606892168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -9.089465140879016, + -385.6685182463557, + -8.038925606892168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -10.589465140879016, + -383.0704420350024, + -8.038925606892168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -12.089465140879016, + -380.47236582364906, + -8.038925606892168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -13.589465140879016, + -377.87428961229574, + -8.038925606892168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -15.089465140879016, + -375.2762134009424, + -8.038925606892168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -16.589465140879014, + -372.6781371895891, + -8.038925606892168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393195 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -18.089465140879014, + -370.0800609782358, + -8.038925606892168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -18.089465140879014, + -370.0800609782358, + -8.038925606892168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -20.68754135223233, + -368.5800609782358, + -8.038925606892168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -23.285617563585646, + -367.0800609782358, + -8.038925606892168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -25.883693774938962, + -365.5800609782358, + -8.038925606892168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -28.481769986292278, + -364.0800609782358, + -8.038925606892168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -31.079846197645594, + -362.5800609782358, + -8.038925606892168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -33.67792240899891, + -361.0800609782358, + -8.038925606892168 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-53-38_529302443/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-53-38_529302443/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..66d988a8303d92a3ef2405e374caf7f89e9184d6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-53-38_529302443/pose.jsonl @@ -0,0 +1,196 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 364.45507963560533, + -240.00988835638609, + -9.132420156688172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 367.45507963560533, + -240.00988835638609, + -9.132420156688172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 370.45507963560533, + -240.00988835638609, + -9.132420156688172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 373.45507963560533, + -240.00988835638609, + -9.132420156688172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 376.45507963560533, + -240.00988835638609, + -9.132420156688172 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 376.45507963560533, + -240.00988835638609, + -9.132420156688172 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 379.05315584695865, + -241.50988835638609, + -9.132420156688172 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 381.65123205831196, + -243.00988835638609, + -9.132420156688172 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 384.2493082696653, + -244.50988835638609, + -9.132420156688172 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 386.8473844810186, + -246.00988835638609, + -9.132420156688172 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 389.4454606923719, + -247.50988835638609, + -9.132420156688172 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 389.4454606923719, + -247.50988835638609, + -9.132420156688172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 392.4454606923719, + -247.50988835638609, + -9.132420156688172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 395.4454606923719, + -247.50988835638609, + -9.132420156688172 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 417.240055847168, + -253.0383457183838, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-56-49_883799426/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-56-49_883799426/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dc462e111aa9a2f745570eee3d782047efbfda4a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-15_23-56-49_883799426/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 360.2498030359341, + -195.67059765571466, + -8.699046247388615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 358.7498030359341, + -193.07252144436134, + -8.699046247388615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 357.2498030359341, + -190.47444523300803, + -8.699046247388615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 355.7498030359341, + -187.8763690216547, + -8.699046247388615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 354.2498030359341, + -185.2782928103014, + -8.699046247388615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 352.7498030359341, + -182.68021659894808, + -8.699046247388615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 351.2498030359341, + -180.08214038759476, + -8.699046247388615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 349.7498030359341, + -177.48406417624145, + -8.699046247388615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 348.2498030359341, + -174.88598796488813, + -8.699046247388615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 346.7498030359341, + -172.28791175353481, + -8.699046247388615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 345.2498030359341, + -169.6898355421815, + -8.699046247388615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 343.7498030359341, + -167.09175933082818, + -8.699046247388615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 342.2498030359341, + -164.49368311947487, + -8.699046247388615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 340.7498030359341, + -161.89560690812155, + -8.699046247388615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 339.2498030359341, + -159.29753069676823, + -8.699046247388615 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 337.7498030359341, + -156.69945448541492, + -8.699046247388615 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 337.7498030359341, + -156.69945448541492, + -8.699046247388615 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 337.7498030359341, + -156.69945448541492, + -8.699046247388615 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 334.7498030359341, + -156.69945448541492, + -8.699046247388615 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.9684103012085, + -137.41820926666261, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-11-27_844169939/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-11-27_844169939/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c3a038e710ba7ed423179557764e490ebb2b1e6c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-11-27_844169939/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -81.6865471081039, + -698.4933940629567, + -9.986846139198263 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -84.28462331945721, + -699.9933940629567, + -9.986846139198263 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -86.88269953081053, + -701.4933940629567, + -9.986846139198263 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -89.48077574216384, + -702.9933940629567, + -9.986846139198263 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -92.07885195351716, + -704.4933940629567, + -9.986846139198263 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -94.67692816487047, + -705.9933940629567, + -9.986846139198263 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -97.27500437622379, + -707.4933940629567, + -9.986846139198263 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -99.8730805875771, + -708.9933940629567, + -9.986846139198263 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -102.47115679893042, + -710.4933940629567, + -9.986846139198263 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -105.06923301028374, + -711.9933940629567, + -9.986846139198263 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -107.66730922163705, + -713.4933940629567, + -9.986846139198263 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -110.26538543299037, + -714.9933940629567, + -9.986846139198263 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -112.86346164434369, + -716.4933940629567, + -9.986846139198263 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -115.461537855697, + -717.9933940629567, + -9.986846139198263 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -118.05961406705032, + -719.4933940629567, + -9.986846139198263 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -120.65769027840363, + -720.9933940629567, + -9.986846139198263 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -123.25576648975695, + -722.4933940629567, + -9.986846139198263 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -123.25576648975695, + -722.4933940629567, + -9.986846139198263 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -124.75576648975695, + -725.09147027431, + -9.986846139198263 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -126.25576648975695, + -727.6895464856634, + -9.986846139198263 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -127.75576648975695, + -730.2876226970168, + -9.986846139198263 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -130.4267204284668, + -730.7557357788087, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-13-58_943190495/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-13-58_943190495/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8ffaa55f824a861128d7b5fd97db62f6a5760705 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-13-58_943190495/pose.jsonl @@ -0,0 +1,248 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 190.2326794779081, + -302.4380767067626, + -5.025104179191996 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 188.7326794779081, + -299.8400004954093, + -5.025104179191996 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 187.2326794779081, + -297.241924284056, + -5.025104179191996 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 185.7326794779081, + -294.64384807270267, + -5.025104179191996 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 184.2326794779081, + -292.04577186134935, + -5.025104179191996 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 182.7326794779081, + -289.44769564999604, + -5.025104179191996 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 181.2326794779081, + -286.8496194386427, + -5.025104179191996 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 179.7326794779081, + -284.2515432272894, + -5.025104179191996 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 178.2326794779081, + -281.6534670159361, + -5.025104179191996 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 176.7326794779081, + -279.05539080458277, + -5.025104179191996 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 175.2326794779081, + -276.45731459322946, + -5.025104179191996 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 173.7326794779081, + -273.85923838187614, + -5.025104179191996 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 172.2326794779081, + -271.2611621705228, + -5.025104179191996 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 170.7326794779081, + -268.6630859591695, + -5.025104179191996 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 169.2326794779081, + -266.0650097478162, + -5.025104179191996 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 167.7326794779081, + -263.4669335364629, + -5.025104179191996 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 166.2326794779081, + -260.86885732510956, + -5.025104179191996 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 164.7326794779081, + -258.27078111375624, + -5.025104179191996 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 162.22081546783448, + -258.53322582244874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-30-43_44804919/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-30-43_44804919/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..42b7f90c3265e6b39b9619c6bb59c8b27413b86a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-30-43_44804919/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 369.353971829745, + 239.04142710378528, + -7.030741066293357 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 366.353971829745, + 239.04142710378528, + -7.030741066293357 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 363.353971829745, + 239.04142710378528, + -7.030741066293357 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 360.353971829745, + 239.04142710378528, + -7.030741066293357 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 357.353971829745, + 239.04142710378528, + -7.030741066293357 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 354.353971829745, + 239.04142710378528, + -7.030741066293357 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 351.353971829745, + 239.04142710378528, + -7.030741066293357 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 348.353971829745, + 239.04142710378528, + -7.030741066293357 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 345.353971829745, + 239.04142710378528, + -7.030741066293357 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 342.353971829745, + 239.04142710378528, + -7.030741066293357 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 339.353971829745, + 239.04142710378528, + -7.030741066293357 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 336.353971829745, + 239.04142710378528, + -7.030741066293357 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 336.353971829745, + 239.04142710378528, + -7.030741066293357 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 333.75589561839166, + 240.54142710378528, + -7.030741066293357 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 331.15781940703835, + 242.04142710378528, + -7.030741066293357 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 328.55974319568503, + 243.54142710378528, + -7.030741066293357 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 325.9616669843317, + 245.04142710378528, + -7.030741066293357 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 323.3635907729784, + 246.54142710378528, + -7.030741066293357 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 320.7655145616251, + 248.04142710378528, + -7.030741066293357 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-38-11_1559382853/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-38-11_1559382853/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..331a8313d6f10a9cdb11e5802eea9cfc5925dd2d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-38-11_1559382853/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1239.2832069717483, + 116.4473586802699, + -8.492170499750996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1240.7832069717483, + 119.04543489162322, + -8.492170499750996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1242.2832069717483, + 121.64351110297653, + -8.492170499750996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1243.7832069717483, + 124.24158731432985, + -8.492170499750996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1245.2832069717483, + 126.83966352568316, + -8.492170499750996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1246.7832069717483, + 129.43773973703648, + -8.492170499750996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1248.2832069717483, + 132.0358159483898, + -8.492170499750996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1249.7832069717483, + 134.6338921597431, + -8.492170499750996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1251.2832069717483, + 137.23196837109643, + -8.492170499750996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1252.7832069717483, + 139.83004458244974, + -8.492170499750996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1254.2832069717483, + 142.42812079380306, + -8.492170499750996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1255.7832069717483, + 145.02619700515638, + -8.492170499750996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1257.2832069717483, + 147.6242732165097, + -8.492170499750996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1258.7832069717483, + 150.222349427863, + -8.492170499750996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1260.2832069717483, + 152.82042563921632, + -8.492170499750996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1261.7832069717483, + 155.41850185056964, + -8.492170499750996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1263.2832069717483, + 158.01657806192296, + -8.492170499750996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1264.7832069717483, + 160.61465427327627, + -8.492170499750996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1266.2832069717483, + 163.2127304846296, + -8.492170499750996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1267.7832069717483, + 165.8108066959829, + -8.492170499750996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1269.2832069717483, + 168.40888290733622, + -8.492170499750996 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1269.2832069717483, + 168.40888290733622, + -8.492170499750996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1269.2832069717483, + 171.40888290733622, + -8.492170499750996 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1269.6296508789064, + 175.0053077697754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-40-19_1175989877/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-40-19_1175989877/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..abe3178d5997eaf4149aeb5c21ebc226a903abe2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-40-19_1175989877/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 366.5993541970623, + -595.7500964427022, + -3.319260889887765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 369.5993541970623, + -595.7500964427022, + -3.319260889887765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 372.5993541970623, + -595.7500964427022, + -3.319260889887765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 375.5993541970623, + -595.7500964427022, + -3.319260889887765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 378.5993541970623, + -595.7500964427022, + -3.319260889887765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 381.5993541970623, + -595.7500964427022, + -3.319260889887765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 384.5993541970623, + -595.7500964427022, + -3.319260889887765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 387.5993541970623, + -595.7500964427022, + -3.319260889887765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 390.5993541970623, + -595.7500964427022, + -3.319260889887765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 393.5993541970623, + -595.7500964427022, + -3.319260889887765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 396.5993541970623, + -595.7500964427022, + -3.319260889887765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 399.5993541970623, + -595.7500964427022, + -3.319260889887765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 402.5993541970623, + -595.7500964427022, + -3.319260889887765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 405.5993541970623, + -595.7500964427022, + -3.319260889887765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 408.5993541970623, + -595.7500964427022, + -3.319260889887765 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 408.5993541970623, + -595.7500964427022, + -3.319260889887765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 411.19743040841564, + -594.2500964427022, + -3.319260889887765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 413.79550661976896, + -592.7500964427022, + -3.319260889887765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 416.3935828311223, + -591.2500964427022, + -3.319260889887765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 418.9916590424756, + -589.7500964427022, + -3.319260889887765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 421.5897352538289, + -588.2500964427022, + -3.319260889887765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 424.1878114651822, + -586.7500964427022, + -3.319260889887765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 426.78588767653554, + -585.2500964427022, + -3.319260889887765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 429.38396388788885, + -583.7500964427022, + -3.319260889887765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 431.98204009924217, + -582.2500964427022, + -3.319260889887765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 434.5801163105955, + -580.7500964427022, + -3.319260889887765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 437.1781925219488, + -579.2500964427022, + -3.319260889887765 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 437.9839408874512, + -578.2894577026368, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-45-48_505185185/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-45-48_505185185/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..89f7abd6977a2bef43b3760e3e5c4d971c4a4183 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-45-48_505185185/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 156.91398577605375, + -603.5130386281529, + -1.0812152351001938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 155.41398577605375, + -600.9149624167997, + -1.0812152351001938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 153.91398577605375, + -598.3168862054463, + -1.0812152351001938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 152.41398577605375, + -595.7188099940929, + -1.0812152351001938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 150.91398577605375, + -593.1207337827395, + -1.0812152351001938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 149.41398577605375, + -590.5226575713862, + -1.0812152351001938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 147.91398577605375, + -587.9245813600328, + -1.0812152351001938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 146.41398577605375, + -585.3265051486794, + -1.0812152351001938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 144.91398577605375, + -582.728428937326, + -1.0812152351001938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 143.41398577605375, + -580.1303527259727, + -1.0812152351001938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 141.91398577605375, + -577.5322765146193, + -1.0812152351001938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 140.41398577605375, + -574.9342003032659, + -1.0812152351001938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 138.91398577605375, + -572.3361240919126, + -1.0812152351001938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 137.41398577605375, + -569.7380478805592, + -1.0812152351001938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 135.91398577605375, + -567.1399716692058, + -1.0812152351001938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 134.41398577605375, + -564.5418954578524, + -1.0812152351001938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 132.91398577605375, + -561.9438192464991, + -1.0812152351001938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 131.41398577605375, + -559.3457430351457, + -1.0812152351001938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 129.91398577605375, + -556.7476668237923, + -1.0812152351001938 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 128.41398577605375, + -554.1495906124389, + -1.0812152351001938 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 128.41398577605375, + -554.1495906124389, + -1.0812152351001938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 128.41398577605375, + -551.1495906124389, + -1.0812152351001938 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948872 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 127.09756164550782, + -547.6103538513185, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-55-18_1638253540/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-55-18_1638253540/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..370ce7a552d134f725c2b2aacb4e0cc1e807e5ba --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-55-18_1638253540/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 184.24682252799158, + 117.70363726508852, + -9.489089417390693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 187.24682252799158, + 117.70363726508852, + -9.489089417390693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 190.24682252799158, + 117.70363726508852, + -9.489089417390693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 193.24682252799158, + 117.70363726508852, + -9.489089417390693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 196.24682252799158, + 117.70363726508852, + -9.489089417390693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 199.24682252799158, + 117.70363726508852, + -9.489089417390693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 202.24682252799158, + 117.70363726508852, + -9.489089417390693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 205.24682252799158, + 117.70363726508852, + -9.489089417390693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 208.24682252799158, + 117.70363726508852, + -9.489089417390693 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 208.24682252799158, + 117.70363726508852, + -9.489089417390693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 210.8448987393449, + 119.20363726508852, + -9.489089417390693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 213.44297495069821, + 120.70363726508852, + -9.489089417390693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 216.04105116205153, + 122.20363726508852, + -9.489089417390693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 218.63912737340485, + 123.70363726508852, + -9.489089417390693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 221.23720358475816, + 125.20363726508852, + -9.489089417390693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 223.83527979611148, + 126.70363726508852, + -9.489089417390693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 226.4333560074648, + 128.2036372650885, + -9.489089417390693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982947 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 229.0314322188181, + 129.7036372650885, + -9.489089417390693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 231.62950843017143, + 131.2036372650885, + -9.489089417390693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 234.22758464152474, + 132.7036372650885, + -9.489089417390693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 236.82566085287806, + 134.2036372650885, + -9.489089417390693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 239.42373706423137, + 135.7036372650885, + -9.489089417390693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 242.0218132755847, + 137.2036372650885, + -9.489089417390693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 244.619889486938, + 138.7036372650885, + -9.489089417390693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 247.21796569829132, + 140.2036372650885, + -9.489089417390693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 249.81604190964464, + 141.7036372650885, + -9.489089417390693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 252.41411812099795, + 143.2036372650885, + -9.489089417390693 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 252.41411812099795, + 143.2036372650885, + -9.489089417390693 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 255.41411812099795, + 143.2036372650885, + -9.489089417390693 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 258.26647663116455, + 142.7095600128174, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-55-2_1233114544/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-55-2_1233114544/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b703eacb0f19ca6f8226d1a79fdc39f0f6fe407 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-55-2_1233114544/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 98.5184522218484, + 249.0595191205461, + -6.428562459630322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 98.5184522218484, + 246.0595191205461, + -6.428562459630322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 98.5184522218484, + 243.0595191205461, + -6.428562459630322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 98.5184522218484, + 240.0595191205461, + -6.428562459630322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 98.5184522218484, + 237.0595191205461, + -6.428562459630322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 98.5184522218484, + 234.0595191205461, + -6.428562459630322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 98.5184522218484, + 231.0595191205461, + -6.428562459630322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 98.5184522218484, + 228.0595191205461, + -6.428562459630322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 98.5184522218484, + 225.0595191205461, + -6.428562459630322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 98.5184522218484, + 222.0595191205461, + -6.428562459630322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 98.5184522218484, + 219.0595191205461, + -6.428562459630322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 98.5184522218484, + 216.0595191205461, + -6.428562459630322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 98.5184522218484, + 213.0595191205461, + -6.428562459630322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 98.5184522218484, + 210.0595191205461, + -6.428562459630322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 98.5184522218484, + 207.0595191205461, + -6.428562459630322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 98.5184522218484, + 204.0595191205461, + -6.428562459630322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 98.5184522218484, + 201.0595191205461, + -6.428562459630322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 98.5184522218484, + 198.0595191205461, + -6.428562459630322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 98.5184522218484, + 195.0595191205461, + -6.428562459630322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 98.5184522218484, + 192.0595191205461, + -6.428562459630322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 98.5184522218484, + 189.0595191205461, + -6.428562459630322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 98.5184522218484, + 186.0595191205461, + -6.428562459630322 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 98.5184522218484, + 186.0595191205461, + -6.428562459630322 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 98.5184522218484, + 186.0595191205461, + -6.428562459630322 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 101.11652843320172, + 184.5595191205461, + -6.428562459630322 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 103.71460464455504, + 183.0595191205461, + -6.428562459630322 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 103.71460464455504, + 183.0595191205461, + -6.428562459630322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 105.21460464455504, + 180.46144290919278, + -6.428562459630322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 106.71460464455504, + 177.86336669783947, + -6.428562459630322 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.78504695892335, + 175.8657693862915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-58-46_701539807/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-58-46_701539807/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4dc2dba246884c564f7d0a7a1f458f5f92b03e7f --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_0-58-46_701539807/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 269.7582508115737, + -266.13948154384394, + -8.718699693839158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 268.2582508115737, + -263.5414053324906, + -8.718699693839158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 266.7582508115737, + -260.9433291211373, + -8.718699693839158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 265.2582508115737, + -258.345252909784, + -8.718699693839158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 263.7582508115737, + -255.74717669843068, + -8.718699693839158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 262.2582508115737, + -253.14910048707736, + -8.718699693839158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 260.7582508115737, + -250.55102427572405, + -8.718699693839158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 259.2582508115737, + -247.95294806437073, + -8.718699693839158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 257.7582508115737, + -245.35487185301741, + -8.718699693839158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 256.2582508115737, + -242.7567956416641, + -8.718699693839158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 254.7582508115737, + -240.15871943031078, + -8.718699693839158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 253.2582508115737, + -237.56064321895747, + -8.718699693839158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 251.7582508115737, + -234.96256700760415, + -8.718699693839158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 250.2582508115737, + -232.36449079625083, + -8.718699693839158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 248.7582508115737, + -229.76641458489752, + -8.718699693839158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 247.2582508115737, + -227.1683383735442, + -8.718699693839158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 245.7582508115737, + -224.5702621621909, + -8.718699693839158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 244.2582508115737, + -221.97218595083757, + -8.718699693839158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 242.7582508115737, + -219.37410973948425, + -8.718699693839158 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 242.7582508115737, + -219.37410973948425, + -8.718699693839158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 242.7582508115737, + -216.37410973948425, + -8.718699693839158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 242.7582508115737, + -213.37410973948425, + -8.718699693839158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 242.7582508115737, + -210.37410973948425, + -8.718699693839158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 242.7582508115737, + -207.37410973948425, + -8.718699693839158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 242.7582508115737, + -204.37410973948425, + -8.718699693839158 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 241.1424083709717, + -202.41772613525393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-1-58_1731563037/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-1-58_1731563037/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..07af48398e3ea3c622d70ba8617d46554a5bba63 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-1-58_1731563037/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 20.304676839378416, + -435.10953043063665, + -9.441114595066708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 23.304676839378416, + -435.10953043063665, + -9.441114595066708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 26.304676839378416, + -435.10953043063665, + -9.441114595066708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 29.304676839378416, + -435.10953043063665, + -9.441114595066708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 32.304676839378416, + -435.10953043063665, + -9.441114595066708 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 32.304676839378416, + -435.10953043063665, + -9.441114595066708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 34.90275305073173, + -433.60953043063665, + -9.441114595066708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 37.50082926208505, + -432.10953043063665, + -9.441114595066708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 40.098905473438364, + -430.60953043063665, + -9.441114595066708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 42.69698168479168, + -429.10953043063665, + -9.441114595066708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 45.295057896144996, + -427.60953043063665, + -9.441114595066708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 47.89313410749831, + -426.10953043063665, + -9.441114595066708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 50.49121031885163, + -424.60953043063665, + -9.441114595066708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 53.089286530204944, + -423.10953043063665, + -9.441114595066708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 55.68736274155826, + -421.60953043063665, + -9.441114595066708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 58.285438952911576, + -420.10953043063665, + -9.441114595066708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 60.88351516426489, + -418.60953043063665, + -9.441114595066708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 63.48159137561821, + -417.10953043063665, + -9.441114595066708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 66.07966758697152, + -415.60953043063665, + -9.441114595066708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 68.67774379832484, + -414.10953043063665, + -9.441114595066708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 71.27582000967816, + -412.60953043063665, + -9.441114595066708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 73.87389622103147, + -411.10953043063665, + -9.441114595066708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 76.47197243238479, + -409.60953043063665, + -9.441114595066708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 79.0700486437381, + -408.10953043063665, + -9.441114595066708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 81.66812485509142, + -406.60953043063665, + -9.441114595066708 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 81.66812485509142, + -406.60953043063665, + -9.441114595066708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 84.66812485509142, + -406.60953043063665, + -9.441114595066708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 87.66812485509142, + -406.60953043063665, + -9.441114595066708 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.3713176727295, + -405.9313674926758, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-14-21_353673391/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-14-21_353673391/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ac65678099ae6ebcbab50a81b9f184d660b9b3d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-14-21_353673391/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1270.2611897662496, + 166.9294313112843, + -6.222381842742495 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1271.7611897662496, + 169.52750752263762, + -6.222381842742495 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1273.2611897662496, + 172.12558373399094, + -6.222381842742495 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1274.7611897662496, + 174.72365994534425, + -6.222381842742495 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1276.2611897662496, + 177.32173615669757, + -6.222381842742495 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1277.7611897662496, + 179.91981236805088, + -6.222381842742495 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1279.2611897662496, + 182.5178885794042, + -6.222381842742495 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1280.7611897662496, + 185.11596479075752, + -6.222381842742495 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1282.2611897662496, + 187.71404100211083, + -6.222381842742495 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1283.7611897662496, + 190.31211721346415, + -6.222381842742495 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1285.2611897662496, + 192.91019342481746, + -6.222381842742495 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1286.7611897662496, + 195.50826963617078, + -6.222381842742495 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1288.2611897662496, + 198.1063458475241, + -6.222381842742495 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1289.7611897662496, + 200.7044220588774, + -6.222381842742495 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1291.2611897662496, + 203.30249827023073, + -6.222381842742495 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1292.7611897662496, + 205.90057448158404, + -6.222381842742495 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1294.2611897662496, + 208.49865069293736, + -6.222381842742495 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1294.2611897662496, + 208.49865069293736, + -6.222381842742495 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1294.2611897662496, + 211.49865069293736, + -6.222381842742495 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1294.2611897662496, + 214.49865069293736, + -6.222381842742495 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1294.2611897662496, + 217.49865069293736, + -6.222381842742495 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1294.2611897662496, + 220.49865069293736, + -6.222381842742495 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1294.2611897662496, + 223.49865069293736, + -6.222381842742495 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1294.2611897662496, + 226.49865069293736, + -6.222381842742495 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1294.2611897662496, + 229.49865069293736, + -6.222381842742495 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1294.2611897662496, + 232.49865069293736, + -6.222381842742495 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1294.2611897662496, + 235.49865069293736, + -6.222381842742495 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1294.2611897662496, + 238.49865069293736, + -6.222381842742495 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1294.2611897662496, + 241.49865069293736, + -6.222381842742495 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1292.3825042724611, + 243.1778787612915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-23-35_1262486766/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-23-35_1262486766/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..474ae0909bff3f48cd0514773456c393eded333a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-23-35_1262486766/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -142.17561156013164, + -194.65500866230252, + -8.705400891104214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -142.17561156013164, + -191.65500866230252, + -8.705400891104214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -142.17561156013164, + -188.65500866230252, + -8.705400891104214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -142.17561156013164, + -185.65500866230252, + -8.705400891104214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -142.17561156013164, + -182.65500866230252, + -8.705400891104214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -142.17561156013164, + -179.65500866230252, + -8.705400891104214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -142.17561156013164, + -176.65500866230252, + -8.705400891104214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -142.17561156013164, + -173.65500866230252, + -8.705400891104214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -142.17561156013164, + -170.65500866230252, + -8.705400891104214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -142.17561156013164, + -167.65500866230252, + -8.705400891104214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -142.17561156013164, + -164.65500866230252, + -8.705400891104214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -142.17561156013164, + -161.65500866230252, + -8.705400891104214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -142.17561156013164, + -158.65500866230252, + -8.705400891104214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -142.17561156013164, + -155.65500866230252, + -8.705400891104214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -142.17561156013164, + -152.65500866230252, + -8.705400891104214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -142.17561156013164, + -149.65500866230252, + -8.705400891104214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -142.17561156013164, + -146.65500866230252, + -8.705400891104214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -142.17561156013164, + -143.65500866230252, + -8.705400891104214 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -142.17561156013164, + -143.65500866230252, + -8.705400891104214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -140.67561156013164, + -141.0569324509492, + -8.705400891104214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -139.17561156013164, + -138.4588562395959, + -8.705400891104214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -137.67561156013164, + -135.86078002824257, + -8.705400891104214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -136.17561156013164, + -133.26270381688926, + -8.705400891104214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -134.67561156013164, + -130.66462760553594, + -8.705400891104214 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -134.67561156013164, + -130.66462760553594, + -8.705400891104214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -134.67561156013164, + -127.66462760553594, + -8.705400891104214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -134.67561156013164, + -124.66462760553594, + -8.705400891104214 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-29-9_1527793660/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-29-9_1527793660/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1e502b1a4767e4ee537d17f4fe13e42ce1db5027 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-29-9_1527793660/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 546.3883541183682, + 322.73953706463635, + -1.8457010726654346 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 543.7902779070148, + 321.23953706463635, + -1.8457010726654346 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 541.1922016956614, + 319.73953706463635, + -1.8457010726654346 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 538.594125484308, + 318.23953706463635, + -1.8457010726654346 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 535.9960492729547, + 316.73953706463635, + -1.8457010726654346 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 533.3979730616013, + 315.23953706463635, + -1.8457010726654346 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 530.7998968502479, + 313.73953706463635, + -1.8457010726654346 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 528.2018206388946, + 312.23953706463635, + -1.8457010726654346 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 525.6037444275412, + 310.73953706463635, + -1.8457010726654346 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 523.0056682161878, + 309.23953706463635, + -1.8457010726654346 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 520.4075920048344, + 307.73953706463635, + -1.8457010726654346 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 517.8095157934811, + 306.23953706463635, + -1.8457010726654346 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 515.2114395821277, + 304.73953706463635, + -1.8457010726654346 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 512.6133633707743, + 303.23953706463635, + -1.8457010726654346 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 512.6133633707743, + 303.23953706463635, + -1.8457010726654346 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 511.1133633707743, + 300.64146085328304, + -1.8457010726654346 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 509.6133633707743, + 298.0433846419297, + -1.8457010726654346 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 508.1133633707743, + 295.4453084305764, + -1.8457010726654346 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 506.6133633707743, + 292.8472322192231, + -1.8457010726654346 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 505.1133633707743, + 290.2491560078698, + -1.8457010726654346 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 503.6133633707743, + 287.65107979651646, + -1.8457010726654346 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 502.1133633707743, + 285.05300358516314, + -1.8457010726654346 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 500.6133633707743, + 282.4549273738098, + -1.8457010726654346 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 498.19472236633305, + 281.0884632110596, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-41-41_547772603/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-41-41_547772603/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4e980ac269564393e697cdab51ec63da7be71196 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-41-41_547772603/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 450.30038578972466, + 315.3779308702811, + -0.9432769422674951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 452.898462001078, + 313.8779308702811, + -0.9432769422674951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 455.4965382124313, + 312.3779308702811, + -0.9432769422674951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 458.0946144237846, + 310.8779308702811, + -0.9432769422674951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 460.6926906351379, + 309.3779308702811, + -0.9432769422674951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 463.29076684649124, + 307.8779308702811, + -0.9432769422674951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 465.88884305784455, + 306.3779308702811, + -0.9432769422674951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 468.48691926919787, + 304.8779308702811, + -0.9432769422674951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 471.0849954805512, + 303.3779308702811, + -0.9432769422674951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 473.6830716919045, + 301.8779308702811, + -0.9432769422674951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 476.2811479032578, + 300.3779308702811, + -0.9432769422674951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 478.87922411461113, + 298.8779308702811, + -0.9432769422674951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 481.47730032596445, + 297.3779308702811, + -0.9432769422674951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 484.07537653731777, + 295.8779308702811, + -0.9432769422674951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 486.6734527486711, + 294.3779308702811, + -0.9432769422674951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 489.2715289600244, + 292.8779308702811, + -0.9432769422674951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 491.8696051713777, + 291.3779308702811, + -0.9432769422674951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 494.46768138273103, + 289.8779308702811, + -0.9432769422674951 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 494.46768138273103, + 289.8779308702811, + -0.9432769422674951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 495.96768138273103, + 287.2798546589278, + -0.9432769422674951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 497.46768138273103, + 284.68177844757446, + -0.9432769422674951 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 498.19472236633305, + 281.0884632110596, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-42-41_988506952/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-42-41_988506952/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..79634fbe5ab6384d67dffdbf3cdda47c72f77718 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-42-41_988506952/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 798.1698122359224, + -304.8440298558043, + -3.9006886521107376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 801.1698122359224, + -304.8440298558043, + -3.9006886521107376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 804.1698122359224, + -304.8440298558043, + -3.9006886521107376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 807.1698122359224, + -304.8440298558043, + -3.9006886521107376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 810.1698122359224, + -304.8440298558043, + -3.9006886521107376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 813.1698122359224, + -304.8440298558043, + -3.9006886521107376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 816.1698122359224, + -304.8440298558043, + -3.9006886521107376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 819.1698122359224, + -304.8440298558043, + -3.9006886521107376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 822.1698122359224, + -304.8440298558043, + -3.9006886521107376 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 822.1698122359224, + -304.8440298558043, + -3.9006886521107376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 824.7678884472757, + -303.3440298558043, + -3.9006886521107376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 827.3659646586291, + -301.8440298558043, + -3.9006886521107376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 829.9640408699825, + -300.3440298558043, + -3.9006886521107376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 832.5621170813358, + -298.8440298558043, + -3.9006886521107376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 835.1601932926892, + -297.3440298558043, + -3.9006886521107376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 837.7582695040426, + -295.8440298558043, + -3.9006886521107376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 840.356345715396, + -294.3440298558043, + -3.9006886521107376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 842.9544219267493, + -292.8440298558043, + -3.9006886521107376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 845.5524981381027, + -291.3440298558043, + -3.9006886521107376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 848.1505743494561, + -289.8440298558043, + -3.9006886521107376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 850.7486505608094, + -288.3440298558043, + -3.9006886521107376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 853.3467267721628, + -286.8440298558043, + -3.9006886521107376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 855.9448029835162, + -285.3440298558043, + -3.9006886521107376 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 871.2010513305664, + -278.09218101501466, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-53-14_1131189562/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-53-14_1131189562/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..43fc52dceb0d93e5651fd3766706a52ebfb9253e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-53-14_1131189562/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -83.11397200871622, + -390.5446092601065, + -8.549814502184196 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -80.11397200871622, + -390.5446092601065, + -8.549814502184196 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -77.11397200871622, + -390.5446092601065, + -8.549814502184196 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -74.11397200871622, + -390.5446092601065, + -8.549814502184196 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -71.11397200871622, + -390.5446092601065, + -8.549814502184196 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -71.11397200871622, + -390.5446092601065, + -8.549814502184196 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -71.11397200871622, + -390.5446092601065, + -8.549814502184196 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -69.61397200871622, + -387.94653304875317, + -8.549814502184196 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -68.11397200871622, + -385.34845683739985, + -8.549814502184196 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -66.61397200871622, + -382.75038062604654, + -8.549814502184196 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -65.11397200871622, + -380.1523044146932, + -8.549814502184196 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -63.61397200871622, + -377.5542282033399, + -8.549814502184196 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -63.61397200871622, + -377.5542282033399, + -8.549814502184196 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -61.0158957973629, + -376.0542282033399, + -8.549814502184196 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -58.417819586009585, + -374.5542282033399, + -8.549814502184196 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -55.81974337465627, + -373.0542282033399, + -8.549814502184196 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -53.22166716330295, + -371.5542282033399, + -8.549814502184196 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -50.62359095194964, + -370.0542282033399, + -8.549814502184196 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -48.02551474059632, + -368.5542282033399, + -8.549814502184196 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -45.427438529243005, + -367.0542282033399, + -8.549814502184196 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -42.82936231788969, + -365.5542282033399, + -8.549814502184196 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -40.23128610653637, + -364.0542282033399, + -8.549814502184196 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -37.63320989518306, + -362.5542282033399, + -8.549814502184196 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -37.04707775115967, + -360.1783214569092, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-7-29_574682290/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-7-29_574682290/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..729493071c253a7293bb5c088cdcdea20826d09e --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_1-7-29_574682290/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -173.26566966127584, + -485.50894920403584, + -3.4675820397310293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -174.76566966127584, + -482.9108729926825, + -3.4675820397310293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -176.26566966127584, + -480.3127967813292, + -3.4675820397310293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -177.76566966127584, + -477.7147205699759, + -3.4675820397310293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -179.26566966127584, + -475.1166443586226, + -3.4675820397310293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -180.76566966127584, + -472.51856814726926, + -3.4675820397310293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -182.26566966127584, + -469.92049193591595, + -3.4675820397310293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -183.76566966127584, + -467.32241572456263, + -3.4675820397310293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -185.26566966127584, + -464.7243395132093, + -3.4675820397310293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -186.76566966127584, + -462.126263301856, + -3.4675820397310293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -188.26566966127584, + -459.5281870905027, + -3.4675820397310293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -189.76566966127584, + -456.93011087914937, + -3.4675820397310293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -191.26566966127584, + -454.33203466779605, + -3.4675820397310293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -192.76566966127584, + -451.73395845644274, + -3.4675820397310293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -194.26566966127584, + -449.1358822450894, + -3.4675820397310293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -195.76566966127584, + -446.5378060337361, + -3.4675820397310293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -197.26566966127584, + -443.9397298223828, + -3.4675820397310293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -198.76566966127584, + -441.34165361102947, + -3.4675820397310293 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -198.76566966127584, + -441.34165361102947, + -3.4675820397310293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -201.36374587262915, + -439.84165361102947, + -3.4675820397310293 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -204.17917842864992, + -437.0482559204102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-1-47_203845520/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-1-47_203845520/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..79f40c5d5aa8f18e755885986af10df23c5093fe --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-1-47_203845520/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 720.6719726079789, + 34.87700410413916, + -8.44829528457098 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 720.6719726079789, + 31.87700410413916, + -8.44829528457098 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 720.6719726079789, + 28.87700410413916, + -8.44829528457098 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 720.6719726079789, + 25.87700410413916, + -8.44829528457098 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 720.6719726079789, + 22.87700410413916, + -8.44829528457098 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 720.6719726079789, + 19.87700410413916, + -8.44829528457098 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 720.6719726079789, + 16.87700410413916, + -8.44829528457098 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 720.6719726079789, + 13.87700410413916, + -8.44829528457098 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 720.6719726079789, + 10.87700410413916, + -8.44829528457098 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 720.6719726079789, + 7.877004104139161, + -8.44829528457098 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 720.6719726079789, + 4.877004104139161, + -8.44829528457098 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 720.6719726079789, + 1.8770041041391607, + -8.44829528457098 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 720.6719726079789, + -1.1229958958608393, + -8.44829528457098 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 720.6719726079789, + -4.122995895860839, + -8.44829528457098 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 720.6719726079789, + -4.122995895860839, + -8.44829528457098 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 722.1719726079789, + -6.721072107214155, + -8.44829528457098 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 723.6719726079789, + -9.319148318567471, + -8.44829528457098 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 725.1719726079789, + -11.917224529920787, + -8.44829528457098 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 726.6719726079789, + -14.515300741274103, + -8.44829528457098 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 728.1719726079789, + -17.11337695262742, + -8.44829528457098 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 727.4186401367188, + -18.7204083442688, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-20-59_372315265/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-20-59_372315265/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15580b6c9ea0b88e70c1c7698c1dca29df881fb2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-20-59_372315265/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1323.7955255570234, + -52.75544850611861, + -1.3140520099340733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1326.7955255570234, + -52.75544850611861, + -1.3140520099340733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1329.7955255570234, + -52.75544850611861, + -1.3140520099340733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1332.7955255570234, + -52.75544850611861, + -1.3140520099340733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1335.7955255570234, + -52.75544850611861, + -1.3140520099340733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1338.7955255570234, + -52.75544850611861, + -1.3140520099340733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1341.7955255570234, + -52.75544850611861, + -1.3140520099340733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1344.7955255570234, + -52.75544850611861, + -1.3140520099340733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1347.7955255570234, + -52.75544850611861, + -1.3140520099340733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1350.7955255570234, + -52.75544850611861, + -1.3140520099340733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1353.7955255570234, + -52.75544850611861, + -1.3140520099340733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1356.7955255570234, + -52.75544850611861, + -1.3140520099340733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1359.7955255570234, + -52.75544850611861, + -1.3140520099340733 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1359.7955255570234, + -52.75544850611861, + -1.3140520099340733 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1359.7955255570234, + -52.75544850611861, + -1.3140520099340733 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1361.2955255570234, + -55.35352471747193, + -1.3140520099340733 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1362.7955255570234, + -57.95160092882524, + -1.3140520099340733 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1364.2955255570234, + -60.54967714017856, + -1.3140520099340733 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1365.7955255570234, + -63.147753351531875, + -1.3140520099340733 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1367.2955255570234, + -65.74582956288519, + -1.3140520099340733 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1368.7955255570234, + -68.34390577423851, + -1.3140520099340733 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1370.2955255570234, + -70.94198198559182, + -1.3140520099340733 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1381.41708984375, + -76.18637247085572, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-21-23_504038566/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-21-23_504038566/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f4640c0f559c7739a89a492e93dc91b6bc0e9e00 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-21-23_504038566/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1509.7256214647189, + 27.771254223559026, + -8.584051870222789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1507.1275452533655, + 26.271254223559026, + -8.584051870222789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1504.5294690420121, + 24.771254223559026, + -8.584051870222789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1501.9313928306588, + 23.271254223559026, + -8.584051870222789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1499.3333166193054, + 21.771254223559026, + -8.584051870222789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1496.735240407952, + 20.271254223559026, + -8.584051870222789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1494.1371641965986, + 18.771254223559026, + -8.584051870222789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1491.5390879852453, + 17.271254223559026, + -8.584051870222789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1488.941011773892, + 15.771254223559026, + -8.584051870222789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1486.3429355625385, + 14.271254223559026, + -8.584051870222789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1483.7448593511851, + 12.771254223559026, + -8.584051870222789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1481.1467831398318, + 11.271254223559026, + -8.584051870222789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1478.5487069284784, + 9.771254223559026, + -8.584051870222789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1475.950630717125, + 8.271254223559026, + -8.584051870222789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1473.3525545057716, + 6.771254223559026, + -8.584051870222789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1470.7544782944183, + 5.271254223559026, + -8.584051870222789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1468.156402083065, + 3.7712542235590263, + -8.584051870222789 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1465.5583258717115, + 2.2712542235590263, + -8.584051870222789 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1465.5583258717115, + 2.2712542235590263, + -8.584051870222789 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1462.5583258717115, + 2.2712542235590267, + -8.584051870222789 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1459.5583258717115, + 2.271254223559027, + -8.584051870222789 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1456.5583258717115, + 2.2712542235590276, + -8.584051870222789 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1453.5583258717115, + 2.271254223559028, + -8.584051870222789 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1450.5583258717115, + 2.2712542235590285, + -8.584051870222789 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.3586029052735, + -0.4004184722900391, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-28-23_202019540/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-28-23_202019540/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b68a6b9dfec67e3fffacbe83ab176e2c75f8fa42 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-28-23_202019540/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 307.2363655221168, + -214.6460771378088, + -5.6800222193054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 307.2363655221168, + -211.6460771378088, + -5.6800222193054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 307.2363655221168, + -208.6460771378088, + -5.6800222193054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 307.2363655221168, + -205.6460771378088, + -5.6800222193054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 307.2363655221168, + -202.6460771378088, + -5.6800222193054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 307.2363655221168, + -199.6460771378088, + -5.6800222193054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 307.2363655221168, + -196.6460771378088, + -5.6800222193054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 307.2363655221168, + -193.6460771378088, + -5.6800222193054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 307.2363655221168, + -190.6460771378088, + -5.6800222193054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 307.2363655221168, + -187.6460771378088, + -5.6800222193054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 307.2363655221168, + -184.6460771378088, + -5.6800222193054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 307.2363655221168, + -181.6460771378088, + -5.6800222193054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 307.2363655221168, + -178.6460771378088, + -5.6800222193054 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 307.2363655221168, + -178.6460771378088, + -5.6800222193054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 308.7363655221168, + -176.04800092645547, + -5.6800222193054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 310.2363655221168, + -173.44992471510216, + -5.6800222193054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 311.7363655221168, + -170.85184850374884, + -5.6800222193054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 313.2363655221168, + -168.25377229239552, + -5.6800222193054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 314.7363655221168, + -165.6556960810422, + -5.6800222193054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 316.2363655221168, + -163.0576198696889, + -5.6800222193054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 317.7363655221168, + -160.45954365833558, + -5.6800222193054 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 317.7363655221168, + -160.45954365833558, + -5.6800222193054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 317.7363655221168, + -157.45954365833558, + -5.6800222193054 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 317.7363655221168, + -154.45954365833558, + -5.6800222193054 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.9684103012085, + -137.41820926666261, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-3-41_1166437685/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-3-41_1166437685/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6823517821a7862b7125eecb735ff725b4f9efa5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-3-41_1166437685/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 250.56882093216825, + -691.4108626584879, + -1.8287488179328388 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 250.56882093216825, + -688.4108626584879, + -1.8287488179328388 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 250.56882093216825, + -685.4108626584879, + -1.8287488179328388 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 250.56882093216825, + -682.4108626584879, + -1.8287488179328388 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 250.56882093216825, + -679.4108626584879, + -1.8287488179328388 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 250.56882093216825, + -676.4108626584879, + -1.8287488179328388 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 250.56882093216825, + -673.4108626584879, + -1.8287488179328388 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 250.56882093216825, + -670.4108626584879, + -1.8287488179328388 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 250.56882093216825, + -667.4108626584879, + -1.8287488179328388 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 250.56882093216825, + -664.4108626584879, + -1.8287488179328388 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 250.56882093216825, + -661.4108626584879, + -1.8287488179328388 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 250.56882093216825, + -658.4108626584879, + -1.8287488179328388 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 250.56882093216825, + -655.4108626584879, + -1.8287488179328388 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 250.56882093216825, + -655.4108626584879, + -1.8287488179328388 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 250.56882093216825, + -655.4108626584879, + -1.8287488179328388 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 247.97074472081493, + -653.9108626584879, + -1.8287488179328388 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 245.37266850946162, + -652.4108626584879, + -1.8287488179328388 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 242.7745922981083, + -650.9108626584879, + -1.8287488179328388 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 242.7745922981083, + -650.9108626584879, + -1.8287488179328388 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 241.2745922981083, + -648.3127864471346, + -1.8287488179328388 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 239.7745922981083, + -645.7147102357812, + -1.8287488179328388 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 238.2745922981083, + -643.1166340244279, + -1.8287488179328388 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 236.7745922981083, + -640.5185578130745, + -1.8287488179328388 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 237.59388580322266, + -636.861552810669, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-35-7_1598048401/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-35-7_1598048401/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..554291265f5f25de936afb7b8290b3f912c58f8c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-35-7_1598048401/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -335.61531830608084, + -211.73901369721094, + -8.671829270237483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -332.61531830608084, + -211.73901369721094, + -8.671829270237483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -329.61531830608084, + -211.73901369721094, + -8.671829270237483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -326.61531830608084, + -211.73901369721094, + -8.671829270237483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -323.61531830608084, + -211.73901369721094, + -8.671829270237483 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -323.61531830608084, + -211.73901369721094, + -8.671829270237483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -321.0172420947275, + -210.23901369721094, + -8.671829270237483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -318.4191658833742, + -208.73901369721094, + -8.671829270237483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -315.8210896720209, + -207.23901369721094, + -8.671829270237483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -313.2230134606676, + -205.73901369721094, + -8.671829270237483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -310.62493724931426, + -204.23901369721094, + -8.671829270237483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -308.02686103796094, + -202.73901369721094, + -8.671829270237483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -305.4287848266076, + -201.23901369721094, + -8.671829270237483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -302.8307086152543, + -199.73901369721094, + -8.671829270237483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -300.232632403901, + -198.23901369721094, + -8.671829270237483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -297.6345561925477, + -196.73901369721094, + -8.671829270237483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -295.03647998119436, + -195.23901369721094, + -8.671829270237483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -292.43840376984105, + -193.73901369721094, + -8.671829270237483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -289.84032755848773, + -192.23901369721094, + -8.671829270237483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -287.2422513471344, + -190.73901369721094, + -8.671829270237483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -284.6441751357811, + -189.23901369721094, + -8.671829270237483 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -284.6441751357811, + -189.23901369721094, + -8.671829270237483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -281.6441751357811, + -189.23901369721094, + -8.671829270237483 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -277.72470836639405, + -188.3509792327881, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-39-31_639286229/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-39-31_639286229/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a22d41d3f302eeefb68f3f06d5e7d5541f754fed --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_2-39-31_639286229/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -209.05981222341333, + -97.51511916849958, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -206.05981222341333, + -97.51511916849958, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -203.05981222341333, + -97.51511916849958, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -200.05981222341333, + -97.51511916849958, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -197.05981222341333, + -97.51511916849958, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -194.05981222341333, + -97.51511916849958, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -191.05981222341333, + -97.51511916849958, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -188.05981222341333, + -97.51511916849958, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -185.05981222341333, + -97.51511916849958, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -182.05981222341333, + -97.51511916849958, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -179.05981222341333, + -97.51511916849958, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -176.05981222341333, + -97.51511916849958, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -173.05981222341333, + -97.51511916849958, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -170.05981222341333, + -97.51511916849958, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -167.05981222341333, + -97.51511916849958, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -164.05981222341333, + -97.51511916849958, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -161.05981222341333, + -97.51511916849958, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -158.05981222341333, + -97.51511916849958, + -5.010036603571864 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -158.05981222341333, + -97.51511916849958, + -5.010036603571864 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -158.05981222341333, + -97.51511916849958, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -156.55981222341333, + -100.1131953798529, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -155.05981222341333, + -102.71127159120621, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -153.55981222341333, + -105.30934780255953, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -152.05981222341333, + -107.90742401391284, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -150.55981222341333, + -110.50550022526616, + -5.010036603571864 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -150.55981222341333, + -110.50550022526616, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -147.96173601206002, + -112.00550022526616, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -145.3636598007067, + -113.50550022526616, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -142.76558358935338, + -115.00550022526616, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -140.16750737800007, + -116.50550022526616, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -137.56943116664675, + -118.00550022526616, + -5.010036603571864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -134.97135495529344, + -119.50550022526616, + -5.010036603571864 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -133.47221508026124, + -121.93247375488282, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-12-5_912078408/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-12-5_912078408/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..93ed8aac1cbb20fa0d3a2fcc07df2a2400d493bb --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-12-5_912078408/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -227.97037319696645, + -138.7847107558578, + -8.69854879455725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -230.56844940831976, + -140.2847107558578, + -8.69854879455725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -233.16652561967308, + -141.7847107558578, + -8.69854879455725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -235.7646018310264, + -143.2847107558578, + -8.69854879455725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -238.3626780423797, + -144.7847107558578, + -8.69854879455725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -240.96075425373303, + -146.2847107558578, + -8.69854879455725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -243.55883046508634, + -147.7847107558578, + -8.69854879455725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -246.15690667643966, + -149.2847107558578, + -8.69854879455725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -248.75498288779298, + -150.7847107558578, + -8.69854879455725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -251.3530590991463, + -152.2847107558578, + -8.69854879455725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -253.9511353104996, + -153.7847107558578, + -8.69854879455725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -256.54921152185295, + -155.2847107558578, + -8.69854879455725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914993 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -259.14728773320627, + -156.7847107558578, + -8.69854879455725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -261.7453639445596, + -158.2847107558578, + -8.69854879455725 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -261.7453639445596, + -158.2847107558578, + -8.69854879455725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -263.2453639445596, + -160.8827869672111, + -8.69854879455725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -264.7453639445596, + -163.48086317856442, + -8.69854879455725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -266.2453639445596, + -166.07893938991774, + -8.69854879455725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -267.7453639445596, + -168.67701560127105, + -8.69854879455725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -269.2453639445596, + -171.27509181262437, + -8.69854879455725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -270.7453639445596, + -173.87316802397768, + -8.69854879455725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -272.2453639445596, + -176.471244235331, + -8.69854879455725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -273.7453639445596, + -179.06932044668432, + -8.69854879455725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -275.2453639445596, + -181.66739665803763, + -8.69854879455725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -276.7453639445596, + -184.26547286939095, + -8.69854879455725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -278.2453639445596, + -186.86354908074426, + -8.69854879455725 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -277.72470836639405, + -188.3509792327881, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-25-7_1478326644/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-25-7_1478326644/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8a7f74a116a18bd122517cd4aa8c864bec83b174 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-25-7_1478326644/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 478.6456021663282, + -446.44914555502356, + -9.58588993291795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 476.0475259549749, + -444.94914555502356, + -9.58588993291795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 473.4494497436216, + -443.44914555502356, + -9.58588993291795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 470.85137353226827, + -441.94914555502356, + -9.58588993291795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 468.25329732091495, + -440.44914555502356, + -9.58588993291795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 465.65522110956164, + -438.94914555502356, + -9.58588993291795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 463.0571448982083, + -437.44914555502356, + -9.58588993291795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 460.459068686855, + -435.94914555502356, + -9.58588993291795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 457.8609924755017, + -434.44914555502356, + -9.58588993291795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 455.2629162641484, + -432.94914555502356, + -9.58588993291795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 452.66484005279506, + -431.44914555502356, + -9.58588993291795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 450.06676384144174, + -429.94914555502356, + -9.58588993291795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 447.4686876300884, + -428.44914555502356, + -9.58588993291795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 444.8706114187351, + -426.94914555502356, + -9.58588993291795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 442.2725352073818, + -425.44914555502356, + -9.58588993291795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 439.6744589960285, + -423.94914555502356, + -9.58588993291795 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 439.6744589960285, + -423.94914555502356, + -9.58588993291795 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 436.6744589960285, + -423.94914555502356, + -9.58588993291795 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 433.6744589960285, + -423.94914555502356, + -9.58588993291795 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 430.6744589960285, + -423.94914555502356, + -9.58588993291795 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 427.6744589960285, + -423.94914555502356, + -9.58588993291795 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 424.6744589960285, + -423.94914555502356, + -9.58588993291795 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 421.6744589960285, + -423.94914555502356, + -9.58588993291795 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 418.6744589960285, + -423.94914555502356, + -9.58588993291795 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 410.6194187164307, + -422.415909576416, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-31-0_722633179/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-31-0_722633179/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..80c4584a43de49ff0e341288b93a408da65a2da8 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-31-0_722633179/pose.jsonl @@ -0,0 +1,235 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 377.51523981527845, + -305.7826405503102, + -0.7120500932551295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 379.01523981527845, + -303.1845643389569, + -0.7120500932551295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 380.51523981527845, + -300.58648812760356, + -0.7120500932551295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 382.01523981527845, + -297.98841191625024, + -0.7120500932551295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 383.51523981527845, + -295.3903357048969, + -0.7120500932551295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 385.01523981527845, + -292.7922594935436, + -0.7120500932551295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 386.51523981527845, + -290.1941832821903, + -0.7120500932551295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 388.01523981527845, + -287.596107070837, + -0.7120500932551295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 389.51523981527845, + -284.99803085948366, + -0.7120500932551295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 391.01523981527845, + -282.39995464813035, + -0.7120500932551295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 392.51523981527845, + -279.80187843677703, + -0.7120500932551295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 394.01523981527845, + -277.2038022254237, + -0.7120500932551295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 395.51523981527845, + -274.6057260140704, + -0.7120500932551295 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 395.51523981527845, + -274.6057260140704, + -0.7120500932551295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 398.11331602663176, + -273.1057260140704, + -0.7120500932551295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 400.7113922379851, + -271.6057260140704, + -0.7120500932551295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 403.3094684493384, + -270.1057260140704, + -0.7120500932551295 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 417.240055847168, + -253.0383457183838, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-31-33_53476175/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-31-33_53476175/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2165adbdd50ad1680cdd0c7652e7f4559e1df916 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-31-33_53476175/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -47.253105095938, + -597.5006445947823, + -1.014277941867503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -44.253105095938, + -597.5006445947823, + -1.014277941867503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -41.253105095938, + -597.5006445947823, + -1.014277941867503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -38.253105095938, + -597.5006445947823, + -1.014277941867503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -35.253105095938, + -597.5006445947823, + -1.014277941867503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -32.253105095938, + -597.5006445947823, + -1.014277941867503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -29.253105095937997, + -597.5006445947823, + -1.014277941867503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -26.253105095937997, + -597.5006445947823, + -1.014277941867503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -23.253105095937997, + -597.5006445947823, + -1.014277941867503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -20.253105095937997, + -597.5006445947823, + -1.014277941867503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -17.253105095937997, + -597.5006445947823, + -1.014277941867503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -14.253105095937997, + -597.5006445947823, + -1.014277941867503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -11.253105095937997, + -597.5006445947823, + -1.014277941867503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -8.253105095937997, + -597.5006445947823, + -1.014277941867503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -5.253105095937997, + -597.5006445947823, + -1.014277941867503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2.253105095937997, + -597.5006445947823, + -1.014277941867503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 0.7468949040620032, + -597.5006445947823, + -1.014277941867503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3.746894904062003, + -597.5006445947823, + -1.014277941867503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 6.746894904062003, + -597.5006445947823, + -1.014277941867503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 9.746894904062003, + -597.5006445947823, + -1.014277941867503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 12.746894904062003, + -597.5006445947823, + -1.014277941867503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 15.746894904062003, + -597.5006445947823, + -1.014277941867503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 18.746894904062003, + -597.5006445947823, + -1.014277941867503 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 21.746894904062003, + -597.5006445947823, + -1.014277941867503 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 21.746894904062003, + -597.5006445947823, + -1.014277941867503 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 21.746894904062003, + -597.5006445947823, + -1.014277941867503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 23.246894904062003, + -594.9025683834291, + -1.014277941867503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 24.746894904062003, + -592.3044921720757, + -1.014277941867503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 26.246894904062003, + -589.7064159607223, + -1.014277941867503 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 27.746894904062003, + -587.108339749369, + -1.014277941867503 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 29.783947944641117, + -587.6620632171631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-37-53_1927454328/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-37-53_1927454328/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..71ea3b006f662938dce3606064465fe36c69cbdf --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-37-53_1927454328/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 646.4357717481345, + 1.7567667648905427, + -7.025951731172885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 647.9357717481345, + -0.8413094464627733, + -7.025951731172885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 649.4357717481345, + -3.4393856578160893, + -7.025951731172885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 650.9357717481345, + -6.037461869169405, + -7.025951731172885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 652.4357717481345, + -8.635538080522721, + -7.025951731172885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 653.9357717481345, + -11.233614291876037, + -7.025951731172885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 655.4357717481345, + -13.831690503229353, + -7.025951731172885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 656.9357717481345, + -16.42976671458267, + -7.025951731172885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 658.4357717481345, + -19.027842925935985, + -7.025951731172885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 659.9357717481345, + -21.6259191372893, + -7.025951731172885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 661.4357717481345, + -24.223995348642617, + -7.025951731172885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 662.9357717481345, + -26.822071559995933, + -7.025951731172885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 664.4357717481345, + -29.42014777134925, + -7.025951731172885 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 664.4357717481345, + -29.42014777134925, + -7.025951731172885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 664.4357717481345, + -32.42014777134925, + -7.025951731172885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 664.4357717481345, + -35.42014777134925, + -7.025951731172885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 664.4357717481345, + -38.42014777134925, + -7.025951731172885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 664.4357717481345, + -41.42014777134925, + -7.025951731172885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 664.4357717481345, + -44.42014777134925, + -7.025951731172885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 664.4357717481345, + -47.42014777134925, + -7.025951731172885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 664.4357717481345, + -50.42014777134925, + -7.025951731172885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 664.4357717481345, + -53.42014777134925, + -7.025951731172885 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.9317680358887, + -69.13963012695314, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-45-37_1438296358/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-45-37_1438296358/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6914fb9eac7da019aadef30ed289288917bdb9c4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-45-37_1438296358/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 26.63457588213383, + -410.9905807915649, + -3.785907275109336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 29.63457588213383, + -410.9905807915649, + -3.785907275109336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 32.63457588213383, + -410.9905807915649, + -3.785907275109336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 35.63457588213383, + -410.9905807915649, + -3.785907275109336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 38.63457588213383, + -410.9905807915649, + -3.785907275109336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 41.63457588213383, + -410.9905807915649, + -3.785907275109336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 44.63457588213383, + -410.9905807915649, + -3.785907275109336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 47.63457588213383, + -410.9905807915649, + -3.785907275109336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 50.63457588213383, + -410.9905807915649, + -3.785907275109336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 53.63457588213383, + -410.9905807915649, + -3.785907275109336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 56.63457588213383, + -410.9905807915649, + -3.785907275109336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 59.63457588213383, + -410.9905807915649, + -3.785907275109336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 62.63457588213383, + -410.9905807915649, + -3.785907275109336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 65.63457588213383, + -410.9905807915649, + -3.785907275109336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 68.63457588213383, + -410.9905807915649, + -3.785907275109336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 71.63457588213383, + -410.9905807915649, + -3.785907275109336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 74.63457588213383, + -410.9905807915649, + -3.785907275109336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 77.63457588213383, + -410.9905807915649, + -3.785907275109336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 80.63457588213383, + -410.9905807915649, + -3.785907275109336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 83.63457588213383, + -410.9905807915649, + -3.785907275109336 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 83.63457588213383, + -410.9905807915649, + -3.785907275109336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 86.23265209348715, + -409.4905807915649, + -3.785907275109336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 88.83072830484046, + -407.9905807915649, + -3.785907275109336 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.3713176727295, + -405.9313674926758, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-5-47_980690626/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-5-47_980690626/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c5885702f987c496656a87fd1881772f030d6b72 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-5-47_980690626/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1338.6403652508961, + 149.18815148435723, + -0.00245964428901857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1336.0422890395428, + 150.68815148435723, + -0.00245964428901857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1333.4442128281894, + 152.18815148435723, + -0.00245964428901857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1330.846136616836, + 153.68815148435723, + -0.00245964428901857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1328.2480604054826, + 155.18815148435723, + -0.00245964428901857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1325.6499841941293, + 156.68815148435723, + -0.00245964428901857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1323.051907982776, + 158.18815148435723, + -0.00245964428901857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1320.4538317714225, + 159.68815148435723, + -0.00245964428901857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1317.8557555600692, + 161.18815148435723, + -0.00245964428901857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1315.2576793487158, + 162.68815148435723, + -0.00245964428901857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1312.6596031373624, + 164.18815148435723, + -0.00245964428901857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1310.061526926009, + 165.68815148435723, + -0.00245964428901857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1307.4634507146557, + 167.18815148435723, + -0.00245964428901857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1304.8653745033023, + 168.68815148435723, + -0.00245964428901857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1302.267298291949, + 170.18815148435723, + -0.00245964428901857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1299.6692220805955, + 171.68815148435723, + -0.00245964428901857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1297.0711458692422, + 173.18815148435723, + -0.00245964428901857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1294.4730696578888, + 174.68815148435723, + -0.00245964428901857 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1294.4730696578888, + 174.68815148435723, + -0.00245964428901857 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1291.4730696578888, + 174.68815148435723, + -0.00245964428901857 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1288.4730696578888, + 174.68815148435723, + -0.00245964428901857 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1285.4730696578888, + 174.68815148435723, + -0.00245964428901857 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1282.4730696578888, + 174.68815148435723, + -0.00245964428901857 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1279.4730696578888, + 174.68815148435723, + -0.00245964428901857 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1276.4730696578888, + 174.68815148435723, + -0.00245964428901857 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1273.4730696578888, + 174.68815148435723, + -0.00245964428901857 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1269.6296508789064, + 175.0053077697754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-53-32_533424260/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-53-32_533424260/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..569109419ec17a85a3d40a7c14e4b57d69392f93 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-53-32_533424260/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1491.218867959715, + 80.29969734702829, + -8.79657178432346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1488.218867959715, + 80.29969734702829, + -8.79657178432346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1485.218867959715, + 80.29969734702829, + -8.79657178432346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1482.218867959715, + 80.29969734702829, + -8.79657178432346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1479.218867959715, + 80.29969734702829, + -8.79657178432346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1476.218867959715, + 80.29969734702829, + -8.79657178432346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1473.218867959715, + 80.29969734702829, + -8.79657178432346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1470.218867959715, + 80.29969734702829, + -8.79657178432346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1467.218867959715, + 80.29969734702829, + -8.79657178432346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1464.218867959715, + 80.29969734702829, + -8.79657178432346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1461.218867959715, + 80.29969734702829, + -8.79657178432346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1458.218867959715, + 80.29969734702829, + -8.79657178432346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1455.218867959715, + 80.29969734702829, + -8.79657178432346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1452.218867959715, + 80.29969734702829, + -8.79657178432346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1449.218867959715, + 80.29969734702829, + -8.79657178432346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1446.218867959715, + 80.29969734702829, + -8.79657178432346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1443.218867959715, + 80.29969734702829, + -8.79657178432346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1440.218867959715, + 80.29969734702829, + -8.79657178432346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1437.218867959715, + 80.29969734702829, + -8.79657178432346 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1437.218867959715, + 80.29969734702829, + -8.79657178432346 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1437.218867959715, + 80.29969734702829, + -8.79657178432346 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1435.718867959715, + 77.70162113567497, + -8.79657178432346 + ], + "type": "stop", + "value": 0, + "yaw": 4.1887902047863905 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.5684967041016, + 76.17316565513612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-57-3_1945972417/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-57-3_1945972417/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..72a15a79db8f6860081e6ce13dcef2421c1ce9b5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_3-57-3_1945972417/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 325.3478586141692, + 190.8858029822382, + -6.119171360911141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 325.3478586141692, + 193.8858029822382, + -6.119171360911141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 325.3478586141692, + 196.8858029822382, + -6.119171360911141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 325.3478586141692, + 199.8858029822382, + -6.119171360911141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 325.3478586141692, + 202.8858029822382, + -6.119171360911141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 325.3478586141692, + 205.8858029822382, + -6.119171360911141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 325.3478586141692, + 208.8858029822382, + -6.119171360911141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 325.3478586141692, + 211.8858029822382, + -6.119171360911141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 325.3478586141692, + 214.8858029822382, + -6.119171360911141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 325.3478586141692, + 217.8858029822382, + -6.119171360911141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 325.3478586141692, + 220.8858029822382, + -6.119171360911141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 325.3478586141692, + 223.8858029822382, + -6.119171360911141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 325.3478586141692, + 226.8858029822382, + -6.119171360911141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 325.3478586141692, + 229.8858029822382, + -6.119171360911141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 325.3478586141692, + 232.8858029822382, + -6.119171360911141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 325.3478586141692, + 235.8858029822382, + -6.119171360911141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 325.3478586141692, + 238.8858029822382, + -6.119171360911141 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 325.3478586141692, + 241.8858029822382, + -6.119171360911141 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 325.3478586141692, + 241.8858029822382, + -6.119171360911141 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 325.3478586141692, + 241.8858029822382, + -6.119171360911141 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 322.74978240281587, + 243.3858029822382, + -6.119171360911141 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 320.15170619146255, + 244.8858029822382, + -6.119171360911141 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 317.55362998010924, + 246.3858029822382, + -6.119171360911141 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-12-20_1611111544/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-12-20_1611111544/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d30b0e7ef429d0372cf2d00fd4b5286479249ea3 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-12-20_1611111544/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1270.4345639844798, + -258.2146506161351, + -3.8723822679352873 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1273.4345639844798, + -258.2146506161351, + -3.8723822679352873 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1276.4345639844798, + -258.2146506161351, + -3.8723822679352873 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1279.4345639844798, + -258.2146506161351, + -3.8723822679352873 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1282.4345639844798, + -258.2146506161351, + -3.8723822679352873 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1282.4345639844798, + -258.2146506161351, + -3.8723822679352873 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1285.0326401958332, + -256.7146506161351, + -3.8723822679352873 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1287.6307164071866, + -255.2146506161351, + -3.8723822679352873 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1290.22879261854, + -253.7146506161351, + -3.8723822679352873 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1292.8268688298933, + -252.2146506161351, + -3.8723822679352873 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1295.4249450412467, + -250.7146506161351, + -3.8723822679352873 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1298.0230212526, + -249.2146506161351, + -3.8723822679352873 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1300.6210974639534, + -247.7146506161351, + -3.8723822679352873 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1303.2191736753068, + -246.2146506161351, + -3.8723822679352873 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1305.8172498866602, + -244.7146506161351, + -3.8723822679352873 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1308.4153260980136, + -243.2146506161351, + -3.8723822679352873 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1311.013402309367, + -241.7146506161351, + -3.8723822679352873 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1313.6114785207203, + -240.2146506161351, + -3.8723822679352873 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1316.2095547320737, + -238.7146506161351, + -3.8723822679352873 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1318.807630943427, + -237.2146506161351, + -3.8723822679352873 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1321.4057071547804, + -235.7146506161351, + -3.8723822679352873 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1324.0037833661338, + -234.2146506161351, + -3.8723822679352873 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1326.6018595774872, + -232.7146506161351, + -3.8723822679352873 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1329.1999357888405, + -231.2146506161351, + -3.8723822679352873 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1332.318264770508, + -228.70366058349612, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-29-28_660420424/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-29-28_660420424/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a5e776aee9d5ce471bb114330226bc9798a28967 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-29-28_660420424/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 57.459161165281614, + 21.31120270327471, + -5.147663223035565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 60.05723737663493, + 22.81120270327471, + -5.147663223035565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 62.655313587988246, + 24.31120270327471, + -5.147663223035565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 65.25338979934156, + 25.81120270327471, + -5.147663223035565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 67.85146601069488, + 27.31120270327471, + -5.147663223035565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 70.4495422220482, + 28.81120270327471, + -5.147663223035565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 73.04761843340151, + 30.31120270327471, + -5.147663223035565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 75.64569464475483, + 31.81120270327471, + -5.147663223035565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 78.24377085610814, + 33.31120270327471, + -5.147663223035565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 80.84184706746146, + 34.81120270327471, + -5.147663223035565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 83.43992327881477, + 36.31120270327471, + -5.147663223035565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 86.03799949016809, + 37.81120270327471, + -5.147663223035565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 88.6360757015214, + 39.31120270327471, + -5.147663223035565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 91.23415191287472, + 40.81120270327471, + -5.147663223035565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 93.83222812422804, + 42.31120270327471, + -5.147663223035565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 96.43030433558135, + 43.81120270327471, + -5.147663223035565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 99.02838054693467, + 45.31120270327471, + -5.147663223035565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 101.62645675828799, + 46.81120270327471, + -5.147663223035565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 104.2245329696413, + 48.31120270327471, + -5.147663223035565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 106.82260918099462, + 49.81120270327471, + -5.147663223035565 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 106.82260918099462, + 49.81120270327471, + -5.147663223035565 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 108.32260918099462, + 52.409278914628025, + -5.147663223035565 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 109.82260918099462, + 55.00735512598134, + -5.147663223035565 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 111.32260918099462, + 57.60543133733466, + -5.147663223035565 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.24056682586671, + 60.22414054870606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-3-1_1481907231/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-3-1_1481907231/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3257dd196d710bade4c58a737095f09c1833a737 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-3-1_1481907231/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 289.0026000595837, + 299.026527818737, + -8.336277268231818 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 290.5026000595837, + 296.4284516073837, + -8.336277268231818 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 292.0026000595837, + 293.8303753960304, + -8.336277268231818 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 293.5026000595837, + 291.23229918467706, + -8.336277268231818 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 295.0026000595837, + 288.63422297332374, + -8.336277268231818 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 296.5026000595837, + 286.03614676197043, + -8.336277268231818 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 298.0026000595837, + 283.4380705506171, + -8.336277268231818 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 299.5026000595837, + 280.8399943392638, + -8.336277268231818 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 301.0026000595837, + 278.2419181279105, + -8.336277268231818 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 302.5026000595837, + 275.64384191655716, + -8.336277268231818 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 304.0026000595837, + 273.04576570520385, + -8.336277268231818 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 305.5026000595837, + 270.44768949385053, + -8.336277268231818 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 307.0026000595837, + 267.8496132824972, + -8.336277268231818 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 308.5026000595837, + 265.2515370711439, + -8.336277268231818 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 310.0026000595837, + 262.6534608597906, + -8.336277268231818 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 311.5026000595837, + 260.05538464843727, + -8.336277268231818 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 313.0026000595837, + 257.45730843708395, + -8.336277268231818 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 314.5026000595837, + 254.85923222573064, + -8.336277268231818 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 316.0026000595837, + 252.26115601437732, + -8.336277268231818 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 317.568487739563, + 250.2678318023682, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-36-38_865144369/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-36-38_865144369/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e42fd0944057dd5210b31e061e02f634d8515ee6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-36-38_865144369/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -61.63970252181255, + -651.2585951539829, + -7.833302687367974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -60.13970252181255, + -653.8566713653363, + -7.833302687367974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -58.63970252181255, + -656.4547475766897, + -7.833302687367974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -57.13970252181255, + -659.052823788043, + -7.833302687367974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -55.63970252181255, + -661.6508999993964, + -7.833302687367974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -54.13970252181255, + -664.2489762107498, + -7.833302687367974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -52.63970252181255, + -666.8470524221032, + -7.833302687367974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -51.13970252181255, + -669.4451286334565, + -7.833302687367974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -49.63970252181255, + -672.0432048448099, + -7.833302687367974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -48.13970252181255, + -674.6412810561633, + -7.833302687367974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -46.63970252181255, + -677.2393572675167, + -7.833302687367974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -45.13970252181255, + -679.83743347887, + -7.833302687367974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -43.63970252181255, + -682.4355096902234, + -7.833302687367974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -42.13970252181255, + -685.0335859015768, + -7.833302687367974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -40.63970252181255, + -687.6316621129301, + -7.833302687367974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -39.13970252181255, + -690.2297383242835, + -7.833302687367974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -37.63970252181255, + -692.8278145356369, + -7.833302687367974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -36.13970252181255, + -695.4258907469903, + -7.833302687367974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -34.63970252181255, + -698.0239669583436, + -7.833302687367974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -33.13970252181255, + -700.622043169697, + -7.833302687367974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -31.639702521812552, + -703.2201193810504, + -7.833302687367974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -30.139702521812552, + -705.8181955924038, + -7.833302687367974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -28.639702521812552, + -708.4162718037571, + -7.833302687367974 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -28.639702521812552, + -708.4162718037571, + -7.833302687367974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -28.639702521812552, + -711.4162718037571, + -7.833302687367974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -28.639702521812552, + -714.4162718037571, + -7.833302687367974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -28.639702521812552, + -717.4162718037571, + -7.833302687367974 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -28.639702521812552, + -720.4162718037571, + -7.833302687367974 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.698616790771485, + -723.4622337341309, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-40-30_1542537541/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-40-30_1542537541/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..064c813ee60eda4fe57b62be68b57cfa6e17a540 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-40-30_1542537541/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -81.94384179523185, + -345.22650363083255, + -7.839279801706539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -83.44384179523185, + -347.82457984218587, + -7.839279801706539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -84.94384179523185, + -350.4226560535392, + -7.839279801706539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -86.44384179523185, + -353.0207322648925, + -7.839279801706539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -87.94384179523185, + -355.6188084762458, + -7.839279801706539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -89.44384179523185, + -358.21688468759913, + -7.839279801706539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -90.94384179523185, + -360.81496089895245, + -7.839279801706539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -92.44384179523185, + -363.41303711030577, + -7.839279801706539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -93.94384179523185, + -366.0111133216591, + -7.839279801706539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -95.44384179523185, + -368.6091895330124, + -7.839279801706539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -96.94384179523185, + -371.2072657443657, + -7.839279801706539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -98.44384179523185, + -373.80534195571903, + -7.839279801706539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -99.94384179523185, + -376.40341816707235, + -7.839279801706539 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -99.94384179523185, + -376.40341816707235, + -7.839279801706539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -102.54191800658516, + -377.90341816707235, + -7.839279801706539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -105.13999421793848, + -379.40341816707235, + -7.839279801706539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -107.7380704292918, + -380.90341816707235, + -7.839279801706539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -110.33614664064511, + -382.40341816707235, + -7.839279801706539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -112.93422285199843, + -383.90341816707235, + -7.839279801706539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -115.53229906335174, + -385.40341816707235, + -7.839279801706539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -118.13037527470506, + -386.90341816707235, + -7.839279801706539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -120.72845148605838, + -388.40341816707235, + -7.839279801706539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -123.32652769741169, + -389.90341816707235, + -7.839279801706539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -125.92460390876501, + -391.40341816707235, + -7.839279801706539 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -125.92460390876501, + -391.40341816707235, + -7.839279801706539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -127.42460390876501, + -394.00149437842566, + -7.839279801706539 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.16454372406008, + -397.39995117187505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-47-20_878786386/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-47-20_878786386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f56c65ac0d0ba4a7bb1f9e074f9d598ddb89f2a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-47-20_878786386/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 187.11411577266657, + 130.85473527554836, + -0.7770606257766755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 190.11411577266657, + 130.85473527554836, + -0.7770606257766755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 193.11411577266657, + 130.85473527554836, + -0.7770606257766755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 196.11411577266657, + 130.85473527554836, + -0.7770606257766755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 199.11411577266657, + 130.85473527554836, + -0.7770606257766755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 202.11411577266657, + 130.85473527554836, + -0.7770606257766755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 205.11411577266657, + 130.85473527554836, + -0.7770606257766755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 208.11411577266657, + 130.85473527554836, + -0.7770606257766755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 211.11411577266657, + 130.85473527554836, + -0.7770606257766755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 214.11411577266657, + 130.85473527554836, + -0.7770606257766755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 217.11411577266657, + 130.85473527554836, + -0.7770606257766755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 220.11411577266657, + 130.85473527554836, + -0.7770606257766755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 223.11411577266657, + 130.85473527554836, + -0.7770606257766755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 226.11411577266657, + 130.85473527554836, + -0.7770606257766755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 229.11411577266657, + 130.85473527554836, + -0.7770606257766755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 232.11411577266657, + 130.85473527554836, + -0.7770606257766755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 235.11411577266657, + 130.85473527554836, + -0.7770606257766755 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 235.11411577266657, + 130.85473527554836, + -0.7770606257766755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 237.71219198401988, + 132.35473527554836, + -0.7770606257766755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 240.3102681953732, + 133.85473527554836, + -0.7770606257766755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 242.9083444067265, + 135.35473527554836, + -0.7770606257766755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 245.50642061807983, + 136.85473527554836, + -0.7770606257766755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 248.10449682943315, + 138.35473527554836, + -0.7770606257766755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 250.70257304078646, + 139.85473527554836, + -0.7770606257766755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 253.30064925213978, + 141.35473527554836, + -0.7770606257766755 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 255.8987254634931, + 142.85473527554836, + -0.7770606257766755 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 258.26647663116455, + 142.7095600128174, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-51-6_2146735658/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-51-6_2146735658/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e1036c7d3b6c14742429d2917c48cb509865171a --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-51-6_2146735658/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 470.54940302256784, + 336.56538026947794, + -0.8648009893054667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 472.04940302256784, + 333.9673040581246, + -0.8648009893054667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 473.54940302256784, + 331.3692278467713, + -0.8648009893054667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 475.04940302256784, + 328.771151635418, + -0.8648009893054667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 476.54940302256784, + 326.1730754240647, + -0.8648009893054667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 478.04940302256784, + 323.57499921271136, + -0.8648009893054667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 479.54940302256784, + 320.97692300135805, + -0.8648009893054667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 481.04940302256784, + 318.37884679000473, + -0.8648009893054667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 482.54940302256784, + 315.7807705786514, + -0.8648009893054667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 484.04940302256784, + 313.1826943672981, + -0.8648009893054667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 485.54940302256784, + 310.5846181559448, + -0.8648009893054667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 487.04940302256784, + 307.98654194459147, + -0.8648009893054667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 488.54940302256784, + 305.38846573323815, + -0.8648009893054667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 490.04940302256784, + 302.79038952188483, + -0.8648009893054667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 491.54940302256784, + 300.1923133105315, + -0.8648009893054667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 493.04940302256784, + 297.5942370991782, + -0.8648009893054667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 494.54940302256784, + 294.9961608878249, + -0.8648009893054667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 496.04940302256784, + 292.39808467647157, + -0.8648009893054667 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 496.04940302256784, + 292.39808467647157, + -0.8648009893054667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 496.04940302256784, + 289.39808467647157, + -0.8648009893054667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 496.04940302256784, + 286.39808467647157, + -0.8648009893054667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 496.04940302256784, + 283.39808467647157, + -0.8648009893054667 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 498.19472236633305, + 281.0884632110596, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-8-51_1155785752/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-8-51_1155785752/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aa39cc46b89c2f30852577b26ce3b1595735e8f4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_4-8-51_1155785752/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1373.7238145822223, + -178.30311700551297, + -2.4094010042981733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1376.7238145822223, + -178.30311700551297, + -2.4094010042981733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1379.7238145822223, + -178.30311700551297, + -2.4094010042981733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1382.7238145822223, + -178.30311700551297, + -2.4094010042981733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1385.7238145822223, + -178.30311700551297, + -2.4094010042981733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1388.7238145822223, + -178.30311700551297, + -2.4094010042981733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1391.7238145822223, + -178.30311700551297, + -2.4094010042981733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1394.7238145822223, + -178.30311700551297, + -2.4094010042981733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1397.7238145822223, + -178.30311700551297, + -2.4094010042981733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1400.7238145822223, + -178.30311700551297, + -2.4094010042981733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1403.7238145822223, + -178.30311700551297, + -2.4094010042981733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1406.7238145822223, + -178.30311700551297, + -2.4094010042981733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1409.7238145822223, + -178.30311700551297, + -2.4094010042981733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1412.7238145822223, + -178.30311700551297, + -2.4094010042981733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1415.7238145822223, + -178.30311700551297, + -2.4094010042981733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1418.7238145822223, + -178.30311700551297, + -2.4094010042981733 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1418.7238145822223, + -178.30311700551297, + -2.4094010042981733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1421.3218907935757, + -179.80311700551297, + -2.4094010042981733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1423.919967004929, + -181.30311700551297, + -2.4094010042981733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1426.5180432162824, + -182.80311700551297, + -2.4094010042981733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1429.1161194276358, + -184.30311700551297, + -2.4094010042981733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1431.7141956389892, + -185.80311700551297, + -2.4094010042981733 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1434.3122718503425, + -187.30311700551297, + -2.4094010042981733 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1437.3104949951173, + -187.02000331878662, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-2-23_602297893/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-2-23_602297893/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0bd5d1f9fb307dc777d1cf1285b43811f522d554 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-2-23_602297893/pose.jsonl @@ -0,0 +1,248 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1105.927224702667, + 175.5397895459786, + -6.429102046548669 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1102.927224702667, + 175.5397895459786, + -6.429102046548669 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1099.927224702667, + 175.5397895459786, + -6.429102046548669 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1096.927224702667, + 175.5397895459786, + -6.429102046548669 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1093.927224702667, + 175.5397895459786, + -6.429102046548669 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1090.927224702667, + 175.5397895459786, + -6.429102046548669 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1087.927224702667, + 175.5397895459786, + -6.429102046548669 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1084.927224702667, + 175.5397895459786, + -6.429102046548669 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1081.927224702667, + 175.5397895459786, + -6.429102046548669 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1081.927224702667, + 175.5397895459786, + -6.429102046548669 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1079.3291484913136, + 174.0397895459786, + -6.429102046548669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1076.7310722799602, + 172.5397895459786, + -6.429102046548669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1074.1329960686069, + 171.0397895459786, + -6.429102046548669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1071.5349198572535, + 169.5397895459786, + -6.429102046548669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1068.9368436459001, + 168.0397895459786, + -6.429102046548669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1066.3387674345468, + 166.5397895459786, + -6.429102046548669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1063.7406912231934, + 165.0397895459786, + -6.429102046548669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1061.14261501184, + 163.5397895459786, + -6.429102046548669 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1048.2760719299317, + 161.26469898223877, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-47-8_192713458/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-47-8_192713458/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6ab13eef49a9ee4ff82a74d151dcddf9ce8ed8ec --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-47-8_192713458/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -258.52308501314036, + -463.29383793108633, + -5.5728322872559275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -255.52308501314036, + -463.29383793108633, + -5.5728322872559275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -252.52308501314036, + -463.29383793108633, + -5.5728322872559275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -249.52308501314036, + -463.29383793108633, + -5.5728322872559275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -246.52308501314036, + -463.29383793108633, + -5.5728322872559275 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -246.52308501314036, + -463.29383793108633, + -5.5728322872559275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -243.92500880178704, + -461.79383793108633, + -5.5728322872559275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -241.32693259043373, + -460.29383793108633, + -5.5728322872559275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -238.7288563790804, + -458.79383793108633, + -5.5728322872559275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -236.1307801677271, + -457.29383793108633, + -5.5728322872559275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -233.53270395637378, + -455.79383793108633, + -5.5728322872559275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -230.93462774502046, + -454.29383793108633, + -5.5728322872559275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -228.33655153366715, + -452.79383793108633, + -5.5728322872559275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -225.73847532231383, + -451.29383793108633, + -5.5728322872559275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -223.14039911096052, + -449.79383793108633, + -5.5728322872559275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -220.5423228996072, + -448.29383793108633, + -5.5728322872559275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -217.94424668825388, + -446.79383793108633, + -5.5728322872559275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -215.34617047690057, + -445.29383793108633, + -5.5728322872559275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -212.74809426554725, + -443.79383793108633, + -5.5728322872559275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -210.15001805419394, + -442.29383793108633, + -5.5728322872559275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -207.55194184284062, + -440.79383793108633, + -5.5728322872559275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -204.9538656314873, + -439.29383793108633, + -5.5728322872559275 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -204.17917842864992, + -437.0482559204102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-5-53_42186306/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-5-53_42186306/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e3218979e8d18492d5f1fb534713d49e9eb73961 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-5-53_42186306/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 811.6001610750371, + -417.98588582594743, + -8.303868830938908 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 814.6001610750371, + -417.98588582594743, + -8.303868830938908 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 817.6001610750371, + -417.98588582594743, + -8.303868830938908 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 820.6001610750371, + -417.98588582594743, + -8.303868830938908 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 823.6001610750371, + -417.98588582594743, + -8.303868830938908 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 823.6001610750371, + -417.98588582594743, + -8.303868830938908 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 826.1982372863904, + -416.48588582594743, + -8.303868830938908 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 828.7963134977438, + -414.98588582594743, + -8.303868830938908 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 831.3943897090971, + -413.48588582594743, + -8.303868830938908 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 833.9924659204505, + -411.98588582594743, + -8.303868830938908 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 836.5905421318039, + -410.48588582594743, + -8.303868830938908 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 839.1886183431573, + -408.98588582594743, + -8.303868830938908 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 841.7866945545106, + -407.48588582594743, + -8.303868830938908 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 844.384770765864, + -405.98588582594743, + -8.303868830938908 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 846.9828469772174, + -404.48588582594743, + -8.303868830938908 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 849.5809231885708, + -402.98588582594743, + -8.303868830938908 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 852.1789993999241, + -401.48588582594743, + -8.303868830938908 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 854.7770756112775, + -399.98588582594743, + -8.303868830938908 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 857.3751518226309, + -398.48588582594743, + -8.303868830938908 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 859.9732280339842, + -396.98588582594743, + -8.303868830938908 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 862.5713042453376, + -395.48588582594743, + -8.303868830938908 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 874.085353088379, + -387.6059455871582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-50-22_2113690868/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-50-22_2113690868/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2e918f0057e4730226adebab515b1675b82ebfb6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-50-22_2113690868/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -109.30560793543971, + -595.5295686574331, + -2.611149718898435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -106.30560793543971, + -595.5295686574331, + -2.611149718898435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -103.30560793543971, + -595.5295686574331, + -2.611149718898435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -100.30560793543971, + -595.5295686574331, + -2.611149718898435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -97.30560793543971, + -595.5295686574331, + -2.611149718898435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -94.30560793543971, + -595.5295686574331, + -2.611149718898435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -91.30560793543971, + -595.5295686574331, + -2.611149718898435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -88.30560793543971, + -595.5295686574331, + -2.611149718898435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -85.30560793543971, + -595.5295686574331, + -2.611149718898435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -82.30560793543971, + -595.5295686574331, + -2.611149718898435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -79.30560793543971, + -595.5295686574331, + -2.611149718898435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -76.30560793543971, + -595.5295686574331, + -2.611149718898435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -73.30560793543971, + -595.5295686574331, + -2.611149718898435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -70.30560793543971, + -595.5295686574331, + -2.611149718898435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -67.30560793543971, + -595.5295686574331, + -2.611149718898435 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -64.30560793543971, + -595.5295686574331, + -2.611149718898435 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -64.30560793543971, + -595.5295686574331, + -2.611149718898435 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -64.30560793543971, + -595.5295686574331, + -2.611149718898435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -62.80560793543971, + -598.1276448687863, + -2.611149718898435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -61.30560793543971, + -600.7257210801397, + -2.611149718898435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -59.80560793543971, + -603.3237972914931, + -2.611149718898435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -58.30560793543971, + -605.9218735028464, + -2.611149718898435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -56.80560793543971, + -608.5199497141998, + -2.611149718898435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -55.30560793543971, + -611.1180259255532, + -2.611149718898435 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.7497802734375, + -613.6590488433839, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-6-29_1134040403/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-6-29_1134040403/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9c0b363e488795477e307ee10723b092587bbcd2 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_5-6-29_1134040403/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 66.26507636129625, + -46.07295524334995, + -7.854397060889955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 63.667000149942936, + -47.57295524334995, + -7.854397060889955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 61.06892393858962, + -49.07295524334995, + -7.854397060889955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 58.470847727236304, + -50.57295524334995, + -7.854397060889955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 55.87277151588299, + -52.07295524334995, + -7.854397060889955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 53.27469530452967, + -53.57295524334995, + -7.854397060889955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 50.676619093176356, + -55.07295524334995, + -7.854397060889955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 48.07854288182304, + -56.57295524334995, + -7.854397060889955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 45.480466670469724, + -58.07295524334995, + -7.854397060889955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 42.88239045911641, + -59.57295524334995, + -7.854397060889955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 40.28431424776309, + -61.07295524334995, + -7.854397060889955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 37.686238036409776, + -62.57295524334995, + -7.854397060889955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 35.08816182505646, + -64.07295524334995, + -7.854397060889955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 32.490085613703144, + -65.57295524334995, + -7.854397060889955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 29.892009402349828, + -67.07295524334995, + -7.854397060889955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 27.293933190996512, + -68.57295524334995, + -7.854397060889955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 24.695856979643196, + -70.07295524334995, + -7.854397060889955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 22.09778076828988, + -71.57295524334995, + -7.854397060889955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 19.499704556936564, + -73.07295524334995, + -7.854397060889955 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 17.12450046539307, + -73.06071357727052, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-10-5_1782806240/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-10-5_1782806240/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bfda95f3bbaef20246e0829d2f963f4839bc9f61 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-10-5_1782806240/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1324.3208521981567, + -202.94780317356538, + -9.622160231823877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1321.7227759868033, + -204.44780317356538, + -9.622160231823877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1319.12469977545, + -205.94780317356538, + -9.622160231823877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1316.5266235640966, + -207.44780317356538, + -9.622160231823877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1313.9285473527432, + -208.94780317356538, + -9.622160231823877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1311.3304711413898, + -210.44780317356538, + -9.622160231823877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1308.7323949300364, + -211.94780317356538, + -9.622160231823877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1306.134318718683, + -213.44780317356538, + -9.622160231823877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1303.5362425073297, + -214.94780317356538, + -9.622160231823877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1300.9381662959763, + -216.44780317356538, + -9.622160231823877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1298.340090084623, + -217.94780317356538, + -9.622160231823877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1295.7420138732696, + -219.44780317356538, + -9.622160231823877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1293.1439376619162, + -220.94780317356538, + -9.622160231823877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1290.5458614505628, + -222.44780317356538, + -9.622160231823877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1287.9477852392095, + -223.94780317356538, + -9.622160231823877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1285.349709027856, + -225.44780317356538, + -9.622160231823877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1282.7516328165027, + -226.94780317356538, + -9.622160231823877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1280.1535566051493, + -228.44780317356538, + -9.622160231823877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1277.555480393796, + -229.94780317356538, + -9.622160231823877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1274.9574041824426, + -231.44780317356538, + -9.622160231823877 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1273.901252746582, + -233.9151123046875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-3-30_516816850/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-3-30_516816850/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..00665c29ba856a6b8a72e45420e0bd5ba8e6c00d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-3-30_516816850/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 711.4447211169607, + 5.972264584788645, + -6.405118285206987 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 708.8466449056075, + 4.472264584788645, + -6.405118285206987 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 706.2485686942541, + 2.972264584788645, + -6.405118285206987 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 703.6504924829007, + 1.4722645847886453, + -6.405118285206987 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 701.0524162715474, + -0.027735415211354475, + -6.405118285206987 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 698.454340060194, + -1.5277354152113543, + -6.405118285206987 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 695.8562638488406, + -3.027735415211354, + -6.405118285206987 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 693.2581876374873, + -4.527735415211354, + -6.405118285206987 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 690.6601114261339, + -6.027735415211354, + -6.405118285206987 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 688.0620352147805, + -7.527735415211354, + -6.405118285206987 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 685.4639590034271, + -9.027735415211353, + -6.405118285206987 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991504 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 685.4639590034271, + -9.027735415211353, + -6.405118285206987 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589803 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 682.4639590034271, + -9.027735415211353, + -6.405118285206987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 679.4639590034271, + -9.027735415211353, + -6.405118285206987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 676.4639590034271, + -9.027735415211353, + -6.405118285206987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 673.4639590034271, + -9.027735415211353, + -6.405118285206987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 670.4639590034271, + -9.027735415211353, + -6.405118285206987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 667.4639590034271, + -9.027735415211353, + -6.405118285206987 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 664.4639590034271, + -9.027735415211353, + -6.405118285206987 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 661.0575393676759, + -10.88031406402588, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-35-41_543785591/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-35-41_543785591/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e07cc353c5b27bccec99df1ee624e36f93b6a3a5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-35-41_543785591/pose.jsonl @@ -0,0 +1,170 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1186.8792625625952, + -210.45981511750333, + -9.341301291000159 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1183.8792625625952, + -210.45981511750333, + -9.341301291000159 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1180.8792625625952, + -210.45981511750333, + -9.341301291000159 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1177.8792625625952, + -210.45981511750333, + -9.341301291000159 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1174.8792625625952, + -210.45981511750333, + -9.341301291000159 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1171.8792625625952, + -210.45981511750333, + -9.341301291000159 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1168.8792625625952, + -210.45981511750333, + -9.341301291000159 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1165.8792625625952, + -210.45981511750333, + -9.341301291000159 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1162.8792625625952, + -210.45981511750333, + -9.341301291000159 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1159.8792625625952, + -210.45981511750333, + -9.341301291000159 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1156.8792625625952, + -210.45981511750333, + -9.341301291000159 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1153.8792625625952, + -210.45981511750333, + -9.341301291000159 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0676353454592, + -208.6565689086914, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-52-57_1449089325/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-52-57_1449089325/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..61f8dcdad390459cb1201807f322a93790353f1c --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-52-57_1449089325/pose.jsonl @@ -0,0 +1,131 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1110.2077106276752, + -290.44088388033936, + -1.4269273012992052 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1108.7077106276752, + -287.84280766898604, + -1.4269273012992052 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1107.2077106276752, + -285.2447314576327, + -1.4269273012992052 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1105.7077106276752, + -282.6466552462794, + -1.4269273012992052 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1104.2077106276752, + -280.0485790349261, + -1.4269273012992052 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1102.7077106276752, + -277.4505028235728, + -1.4269273012992052 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1101.2077106276752, + -274.85242661221946, + -1.4269273012992052 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1099.7077106276752, + -272.25435040086614, + -1.4269273012992052 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1098.2077106276752, + -269.6562741895128, + -1.4269273012992052 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1078.2823501586915, + -224.4462232589722, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-58-20_961135338/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-58-20_961135338/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67cd6459320c09e82439a0a6f0ae4949ecf227ed --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_6-58-20_961135338/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 703.4882051196487, + -83.47585819744174, + -8.12771483486563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 704.9882051196487, + -80.87778198608842, + -8.12771483486563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 706.4882051196487, + -78.2797057747351, + -8.12771483486563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 707.9882051196487, + -75.68162956338179, + -8.12771483486563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 709.4882051196487, + -73.08355335202847, + -8.12771483486563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 710.9882051196487, + -70.48547714067516, + -8.12771483486563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 712.4882051196487, + -67.88740092932184, + -8.12771483486563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 713.9882051196487, + -65.28932471796853, + -8.12771483486563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 715.4882051196487, + -62.69124850661521, + -8.12771483486563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 716.9882051196487, + -60.093172295261894, + -8.12771483486563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 718.4882051196487, + -57.49509608390858, + -8.12771483486563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 719.9882051196487, + -54.89701987255526, + -8.12771483486563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 721.4882051196487, + -52.298943661201946, + -8.12771483486563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 722.9882051196487, + -49.70086744984863, + -8.12771483486563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 724.4882051196487, + -47.102791238495314, + -8.12771483486563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 725.9882051196487, + -44.504715027142, + -8.12771483486563 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 725.9882051196487, + -44.504715027142, + -8.12771483486563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 725.9882051196487, + -41.504715027142, + -8.12771483486563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 725.9882051196487, + -38.504715027142, + -8.12771483486563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 725.9882051196487, + -35.504715027142, + -8.12771483486563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 725.9882051196487, + -32.504715027142, + -8.12771483486563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 725.9882051196487, + -29.504715027141998, + -8.12771483486563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 725.9882051196487, + -26.504715027141998, + -8.12771483486563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 725.9882051196487, + -23.504715027141998, + -8.12771483486563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 725.9882051196487, + -20.504715027141998, + -8.12771483486563 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 727.4186401367188, + -18.7204083442688, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-12-4_1629490177/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-12-4_1629490177/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7111068b1b2da94de2494d6118366b7be38fd32d --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-12-4_1629490177/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1391.130716289327, + -8.877291355121109, + -1.1796352656771667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1394.130716289327, + -8.877291355121109, + -1.1796352656771667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1397.130716289327, + -8.877291355121109, + -1.1796352656771667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1400.130716289327, + -8.877291355121109, + -1.1796352656771667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1403.130716289327, + -8.877291355121109, + -1.1796352656771667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1406.130716289327, + -8.877291355121109, + -1.1796352656771667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1409.130716289327, + -8.877291355121109, + -1.1796352656771667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1412.130716289327, + -8.877291355121109, + -1.1796352656771667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1415.130716289327, + -8.877291355121109, + -1.1796352656771667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1418.130716289327, + -8.877291355121109, + -1.1796352656771667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1421.130716289327, + -8.877291355121109, + -1.1796352656771667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1424.130716289327, + -8.877291355121109, + -1.1796352656771667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1427.130716289327, + -8.877291355121109, + -1.1796352656771667 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1427.130716289327, + -8.877291355121109, + -1.1796352656771667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1429.7287925006804, + -7.377291355121109, + -1.1796352656771667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1432.3268687120337, + -5.877291355121109, + -1.1796352656771667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1434.924944923387, + -4.377291355121109, + -1.1796352656771667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1437.5230211347405, + -2.877291355121109, + -1.1796352656771667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1440.1210973460938, + -1.3772913551211092, + -1.1796352656771667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1442.7191735574472, + 0.12270864487889055, + -1.1796352656771667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1445.3172497688006, + 1.6227086448788903, + -1.1796352656771667 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982893 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.3586029052735, + -0.4004184722900391, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-47-31_1050760512/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-47-31_1050760512/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bbea44b8e750eff30aac09ebb9f4e935cfd706b4 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-47-31_1050760512/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -22.818497696087604, + -24.331307253212024, + -7.483791734134373 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -21.318497696087604, + -26.92938346456534, + -7.483791734134373 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -19.818497696087604, + -29.527459675918657, + -7.483791734134373 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -18.318497696087604, + -32.12553588727197, + -7.483791734134373 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -16.818497696087604, + -34.72361209862529, + -7.483791734134373 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -15.318497696087604, + -37.321688309978605, + -7.483791734134373 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -13.818497696087604, + -39.91976452133192, + -7.483791734134373 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -12.318497696087604, + -42.51784073268524, + -7.483791734134373 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -10.818497696087604, + -45.11591694403855, + -7.483791734134373 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -9.318497696087604, + -47.71399315539187, + -7.483791734134373 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -7.818497696087604, + -50.312069366745185, + -7.483791734134373 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -6.318497696087604, + -52.9101455780985, + -7.483791734134373 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -4.818497696087604, + -55.50822178945182, + -7.483791734134373 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -3.318497696087604, + -58.10629800080513, + -7.483791734134373 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -3.318497696087604, + -58.10629800080513, + -7.483791734134373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -0.7204214847342878, + -59.60629800080513, + -7.483791734134373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1.8776547266190282, + -61.10629800080513, + -7.483791734134373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4.475730937972344, + -62.60629800080513, + -7.483791734134373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 7.07380714932566, + -64.10629800080513, + -7.483791734134373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982968 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 9.671883360678976, + -65.60629800080513, + -7.483791734134373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 12.269959572032292, + -67.10629800080513, + -7.483791734134373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 14.868035783385608, + -68.60629800080513, + -7.483791734134373 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 17.466111994738924, + -70.10629800080513, + -7.483791734134373 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 17.12450046539307, + -73.06071357727052, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-49-25_262458924/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-49-25_262458924/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ebfb00c8333fd48981363a97633cad7cefc83cfc --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_7-49-25_262458924/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 127.23484808957963, + -347.8678060971563, + -5.745247427228907 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 125.73484808957963, + -350.4658823085096, + -5.745247427228907 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 124.23484808957963, + -353.0639585198629, + -5.745247427228907 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 122.73484808957963, + -355.66203473121624, + -5.745247427228907 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 121.23484808957963, + -358.26011094256955, + -5.745247427228907 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 119.73484808957963, + -360.85818715392287, + -5.745247427228907 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 118.23484808957963, + -363.4562633652762, + -5.745247427228907 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 116.73484808957963, + -366.0543395766295, + -5.745247427228907 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 115.23484808957963, + -368.6524157879828, + -5.745247427228907 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 113.73484808957963, + -371.25049199933613, + -5.745247427228907 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 112.23484808957963, + -373.84856821068945, + -5.745247427228907 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 110.73484808957963, + -376.44664442204277, + -5.745247427228907 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 109.23484808957963, + -379.0447206333961, + -5.745247427228907 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 107.73484808957963, + -381.6427968447494, + -5.745247427228907 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 106.23484808957963, + -384.2408730561027, + -5.745247427228907 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 104.73484808957963, + -386.83894926745603, + -5.745247427228907 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 103.23484808957963, + -389.43702547880935, + -5.745247427228907 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 101.73484808957963, + -392.03510169016266, + -5.745247427228907 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 100.23484808957963, + -394.633177901516, + -5.745247427228907 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 98.73484808957963, + -397.2312541128693, + -5.745247427228907 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 97.23484808957963, + -399.8293303242226, + -5.745247427228907 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 95.73484808957963, + -402.4274065355759, + -5.745247427228907 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 95.73484808957963, + -402.4274065355759, + -5.745247427228907 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 93.13677187822631, + -403.9274065355759, + -5.745247427228907 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.3713176727295, + -405.9313674926758, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-13-8_1127210541/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-13-8_1127210541/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..50537c08ec2b9bcde76a69ef2b3ea974dcba1c9b --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-13-8_1127210541/pose.jsonl @@ -0,0 +1,235 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1374.998408549442, + -147.07317315352068, + -0.025745324275540327 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1374.998408549442, + -150.07317315352068, + -0.025745324275540327 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1374.998408549442, + -153.07317315352068, + -0.025745324275540327 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1374.998408549442, + -156.07317315352068, + -0.025745324275540327 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1374.998408549442, + -159.07317315352068, + -0.025745324275540327 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1374.998408549442, + -162.07317315352068, + -0.025745324275540327 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1374.998408549442, + -165.07317315352068, + -0.025745324275540327 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1374.998408549442, + -168.07317315352068, + -0.025745324275540327 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1374.998408549442, + -171.07317315352068, + -0.025745324275540327 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1374.998408549442, + -174.07317315352068, + -0.025745324275540327 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1374.998408549442, + -177.07317315352068, + -0.025745324275540327 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1374.998408549442, + -180.07317315352068, + -0.025745324275540327 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1374.998408549442, + -183.07317315352068, + -0.025745324275540327 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1374.998408549442, + -186.07317315352068, + -0.025745324275540327 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1374.998408549442, + -189.07317315352068, + -0.025745324275540327 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1374.998408549442, + -192.07317315352068, + -0.025745324275540327 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1374.998408549442, + -195.07317315352068, + -0.025745324275540327 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1374.3149368286133, + -198.07321910858155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-19-33_904930058/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-19-33_904930058/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5bd132503b58dd6a04993170d4979099ed6b8d01 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-19-33_904930058/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 276.82883584871735, + 155.3489778921218, + -2.1390910800695426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 275.32883584871735, + 157.94705410347512, + -2.1390910800695426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 273.82883584871735, + 160.54513031482844, + -2.1390910800695426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 272.32883584871735, + 163.14320652618176, + -2.1390910800695426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 270.82883584871735, + 165.74128273753507, + -2.1390910800695426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 269.32883584871735, + 168.3393589488884, + -2.1390910800695426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 267.82883584871735, + 170.9374351602417, + -2.1390910800695426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 266.32883584871735, + 173.53551137159502, + -2.1390910800695426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 264.82883584871735, + 176.13358758294834, + -2.1390910800695426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 263.32883584871735, + 178.73166379430165, + -2.1390910800695426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 261.82883584871735, + 181.32974000565497, + -2.1390910800695426 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 261.82883584871735, + 181.32974000565497, + -2.1390910800695426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 259.23075963736403, + 182.82974000565497, + -2.1390910800695426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 256.6326834260107, + 184.32974000565497, + -2.1390910800695426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 254.0346072146574, + 185.82974000565497, + -2.1390910800695426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 251.43653100330408, + 187.32974000565497, + -2.1390910800695426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 248.83845479195077, + 188.82974000565497, + -2.1390910800695426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 246.24037858059745, + 190.32974000565497, + -2.1390910800695426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 243.64230236924413, + 191.82974000565497, + -2.1390910800695426 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 243.237640953064, + 194.2933292388916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-27-52_1847472101/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-27-52_1847472101/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c08738e77711decb3639d3486fb147c9643c8faa --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-27-52_1847472101/pose.jsonl @@ -0,0 +1,157 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 439.82413515844985, + -317.4945732027015, + -0.694176906515894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 438.32413515844985, + -314.89649699134816, + -0.694176906515894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 436.82413515844985, + -312.29842077999484, + -0.694176906515894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 435.32413515844985, + -309.7003445686415, + -0.694176906515894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 433.82413515844985, + -307.1022683572882, + -0.694176906515894 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 432.32413515844985, + -304.5041921459349, + -0.694176906515894 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 432.32413515844985, + -304.5041921459349, + -0.694176906515894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 432.32413515844985, + -301.5041921459349, + -0.694176906515894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 432.32413515844985, + -298.5041921459349, + -0.694176906515894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 432.32413515844985, + -295.5041921459349, + -0.694176906515894 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 432.32413515844985, + -292.5041921459349, + -0.694176906515894 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 417.240055847168, + -253.0383457183838, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-30-14_939288131/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-30-14_939288131/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..73786054ee0dfb4161e97ca0a5d65335499ad4e5 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-30-14_939288131/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 342.7110112426636, + -390.1601107862649, + -0.3134945015413866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 340.11293503131026, + -388.6601107862649, + -0.3134945015413866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 337.51485881995694, + -387.1601107862649, + -0.3134945015413866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 334.9167826086036, + -385.6601107862649, + -0.3134945015413866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 332.3187063972503, + -384.1601107862649, + -0.3134945015413866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 329.720630185897, + -382.6601107862649, + -0.3134945015413866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 327.1225539745437, + -381.1601107862649, + -0.3134945015413866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 324.52447776319036, + -379.6601107862649, + -0.3134945015413866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 321.92640155183705, + -378.1601107862649, + -0.3134945015413866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 319.32832534048373, + -376.6601107862649, + -0.3134945015413866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 316.7302491291304, + -375.1601107862649, + -0.3134945015413866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 314.1321729177771, + -373.6601107862649, + -0.3134945015413866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 311.5340967064238, + -372.1601107862649, + -0.3134945015413866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 308.93602049507047, + -370.6601107862649, + -0.3134945015413866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 306.33794428371715, + -369.1601107862649, + -0.3134945015413866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 303.73986807236383, + -367.6601107862649, + -0.3134945015413866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 301.1417918610105, + -366.1601107862649, + -0.3134945015413866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 298.5437156496572, + -364.6601107862649, + -0.3134945015413866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 295.9456394383039, + -363.1601107862649, + -0.3134945015413866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 293.34756322695057, + -361.6601107862649, + -0.3134945015413866 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 293.34756322695057, + -361.6601107862649, + -0.3134945015413866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 291.84756322695057, + -359.0620345749116, + -0.3134945015413866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 290.34756322695057, + -356.4639583635583, + -0.3134945015413866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 288.84756322695057, + -353.86588215220496, + -0.3134945015413866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 287.34756322695057, + -351.26780594085164, + -0.3134945015413866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 285.84756322695057, + -348.66972972949833, + -0.3134945015413866 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 285.84756322695057, + -348.66972972949833, + -0.3134945015413866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 285.84756322695057, + -345.66972972949833, + -0.3134945015413866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 285.84756322695057, + -342.66972972949833, + -0.3134945015413866 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 284.2394945144654, + -340.45848770141606, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-36-0_2146753918/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-36-0_2146753918/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..07e895a8ced18345e992fc5bb990783797e108f9 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-36-0_2146753918/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -268.2028029862539, + -198.66848175893185, + -3.045176136329032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -265.6047267749006, + -197.16848175893185, + -3.045176136329032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -263.0066505635473, + -195.66848175893185, + -3.045176136329032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -260.40857435219397, + -194.16848175893185, + -3.045176136329032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -257.81049814084065, + -192.66848175893185, + -3.045176136329032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -255.21242192948733, + -191.16848175893185, + -3.045176136329032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -252.61434571813402, + -189.66848175893185, + -3.045176136329032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -250.0162695067807, + -188.16848175893185, + -3.045176136329032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -247.4181932954274, + -186.66848175893185, + -3.045176136329032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -244.82011708407407, + -185.16848175893185, + -3.045176136329032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -242.22204087272075, + -183.66848175893185, + -3.045176136329032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -239.62396466136744, + -182.16848175893185, + -3.045176136329032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -237.02588845001412, + -180.66848175893185, + -3.045176136329032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -234.4278122386608, + -179.16848175893185, + -3.045176136329032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -231.8297360273075, + -177.66848175893185, + -3.045176136329032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -229.23165981595417, + -176.16848175893185, + -3.045176136329032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -226.63358360460086, + -174.66848175893185, + -3.045176136329032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -224.03550739324754, + -173.16848175893185, + -3.045176136329032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -221.43743118189423, + -171.66848175893185, + -3.045176136329032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -218.8393549705409, + -170.16848175893185, + -3.045176136329032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -216.2412787591876, + -168.66848175893185, + -3.045176136329032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -213.64320254783428, + -167.16848175893185, + -3.045176136329032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -211.04512633648096, + -165.66848175893185, + -3.045176136329032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -208.44705012512765, + -164.16848175893185, + -3.045176136329032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -205.84897391377433, + -162.66848175893185, + -3.045176136329032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -203.250897702421, + -161.16848175893185, + -3.045176136329032 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -203.22534084320068, + -159.0278995513916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-40-4_1920992956/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-40-4_1920992956/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3640d0440d7e122c8650aebc4c9bd5c6ca2a2546 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-40-4_1920992956/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1349.6335773595645, + 150.3774894127572, + -2.0562208429978712 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1352.6335773595645, + 150.3774894127572, + -2.0562208429978712 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1355.6335773595645, + 150.3774894127572, + -2.0562208429978712 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1358.6335773595645, + 150.3774894127572, + -2.0562208429978712 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1361.6335773595645, + 150.3774894127572, + -2.0562208429978712 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1364.6335773595645, + 150.3774894127572, + -2.0562208429978712 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1367.6335773595645, + 150.3774894127572, + -2.0562208429978712 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1370.6335773595645, + 150.3774894127572, + -2.0562208429978712 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1373.6335773595645, + 150.3774894127572, + -2.0562208429978712 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1376.6335773595645, + 150.3774894127572, + -2.0562208429978712 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1379.6335773595645, + 150.3774894127572, + -2.0562208429978712 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1382.6335773595645, + 150.3774894127572, + -2.0562208429978712 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1385.6335773595645, + 150.3774894127572, + -2.0562208429978712 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1388.6335773595645, + 150.3774894127572, + -2.0562208429978712 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1391.6335773595645, + 150.3774894127572, + -2.0562208429978712 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1394.6335773595645, + 150.3774894127572, + -2.0562208429978712 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1397.6335773595645, + 150.3774894127572, + -2.0562208429978712 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1400.6335773595645, + 150.3774894127572, + -2.0562208429978712 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1403.6335773595645, + 150.3774894127572, + -2.0562208429978712 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1406.6335773595645, + 150.3774894127572, + -2.0562208429978712 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1409.6335773595645, + 150.3774894127572, + -2.0562208429978712 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1412.041893005371, + 150.22052021026613, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-44-41_489005601/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-44-41_489005601/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..75a7cc34e4dbe07de6fde6a59bdc5092c30c91b6 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-44-41_489005601/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1337.2078854142512, + 205.47941175742142, + -4.638645159826835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1334.6098092028978, + 203.97941175742142, + -4.638645159826835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1332.0117329915445, + 202.47941175742142, + -4.638645159826835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1329.413656780191, + 200.97941175742142, + -4.638645159826835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1326.8155805688377, + 199.47941175742142, + -4.638645159826835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1324.2175043574844, + 197.97941175742142, + -4.638645159826835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1321.619428146131, + 196.47941175742142, + -4.638645159826835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1319.0213519347776, + 194.97941175742142, + -4.638645159826835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1316.4232757234242, + 193.47941175742142, + -4.638645159826835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1313.8251995120709, + 191.97941175742142, + -4.638645159826835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1311.2271233007175, + 190.47941175742142, + -4.638645159826835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1308.6290470893641, + 188.97941175742142, + -4.638645159826835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1306.0309708780107, + 187.47941175742142, + -4.638645159826835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1303.4328946666574, + 185.97941175742142, + -4.638645159826835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1300.834818455304, + 184.47941175742142, + -4.638645159826835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1298.2367422439506, + 182.97941175742142, + -4.638645159826835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1295.6386660325973, + 181.47941175742142, + -4.638645159826835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1293.0405898212439, + 179.97941175742142, + -4.638645159826835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1290.4425136098905, + 178.47941175742142, + -4.638645159826835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1287.8444373985371, + 176.97941175742142, + -4.638645159826835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1285.2463611871838, + 175.47941175742142, + -4.638645159826835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1282.6482849758304, + 173.97941175742142, + -4.638645159826835 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1282.6482849758304, + 173.97941175742142, + -4.638645159826835 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1279.6482849758304, + 173.97941175742142, + -4.638645159826835 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1276.6482849758304, + 173.97941175742142, + -4.638645159826835 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1273.6482849758304, + 173.97941175742142, + -4.638645159826835 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1270.6482849758304, + 173.97941175742142, + -4.638645159826835 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1269.6296508789064, + 175.0053077697754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-49-13_2075699972/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-49-13_2075699972/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..802ad6b21007609f1f82c3d462d34e4429d9c090 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-49-13_2075699972/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -191.71730919044563, + -653.6032754167013, + -4.656586881253997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -188.71730919044563, + -653.6032754167013, + -4.656586881253997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -185.71730919044563, + -653.6032754167013, + -4.656586881253997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -182.71730919044563, + -653.6032754167013, + -4.656586881253997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -179.71730919044563, + -653.6032754167013, + -4.656586881253997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -176.71730919044563, + -653.6032754167013, + -4.656586881253997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -173.71730919044563, + -653.6032754167013, + -4.656586881253997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -170.71730919044563, + -653.6032754167013, + -4.656586881253997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -167.71730919044563, + -653.6032754167013, + -4.656586881253997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -164.71730919044563, + -653.6032754167013, + -4.656586881253997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -161.71730919044563, + -653.6032754167013, + -4.656586881253997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -158.71730919044563, + -653.6032754167013, + -4.656586881253997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -155.71730919044563, + -653.6032754167013, + -4.656586881253997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -152.71730919044563, + -653.6032754167013, + -4.656586881253997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -149.71730919044563, + -653.6032754167013, + -4.656586881253997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -146.71730919044563, + -653.6032754167013, + -4.656586881253997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -143.71730919044563, + -653.6032754167013, + -4.656586881253997 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -143.71730919044563, + -653.6032754167013, + -4.656586881253997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -141.11923297909232, + -652.1032754167013, + -4.656586881253997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -138.521156767739, + -650.6032754167013, + -4.656586881253997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -135.92308055638568, + -649.1032754167013, + -4.656586881253997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -133.32500434503237, + -647.6032754167013, + -4.656586881253997 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -129.48518104553224, + -646.8201499938965, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-52-56_1339173201/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-52-56_1339173201/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d1c29028e01e6601e6fce71285bdea6da2647edd --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-52-56_1339173201/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -239.5092237001803, + -474.7018147954848, + -8.73945547417272 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -238.0092237001803, + -472.10373858413146, + -8.73945547417272 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -236.5092237001803, + -469.50566237277815, + -8.73945547417272 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -235.0092237001803, + -466.90758616142483, + -8.73945547417272 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -233.5092237001803, + -464.3095099500715, + -8.73945547417272 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -232.0092237001803, + -461.7114337387182, + -8.73945547417272 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -230.5092237001803, + -459.1133575273649, + -8.73945547417272 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -229.0092237001803, + -456.51528131601157, + -8.73945547417272 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -227.5092237001803, + -453.91720510465825, + -8.73945547417272 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -226.0092237001803, + -451.31912889330493, + -8.73945547417272 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -224.5092237001803, + -448.7210526819516, + -8.73945547417272 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -224.5092237001803, + -448.7210526819516, + -8.73945547417272 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -221.911147488827, + -447.2210526819516, + -8.73945547417272 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -219.31307127747368, + -445.7210526819516, + -8.73945547417272 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -216.71499506612037, + -444.2210526819516, + -8.73945547417272 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -214.11691885476705, + -442.7210526819516, + -8.73945547417272 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -211.51884264341373, + -441.2210526819516, + -8.73945547417272 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -208.92076643206042, + -439.7210526819516, + -8.73945547417272 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -206.3226902207071, + -438.2210526819516, + -8.73945547417272 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -204.17917842864992, + -437.0482559204102, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-58-44_465550001/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-58-44_465550001/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..922841d6148a322777a42e6f99ff99c59cfe5101 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_8-58-44_465550001/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 245.823813037523, + 72.97904881563687, + -1.3924707737510609 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 245.823813037523, + 75.97904881563687, + -1.3924707737510609 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 245.823813037523, + 78.97904881563687, + -1.3924707737510609 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 245.823813037523, + 81.97904881563687, + -1.3924707737510609 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 245.823813037523, + 84.97904881563687, + -1.3924707737510609 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 245.823813037523, + 87.97904881563687, + -1.3924707737510609 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 245.823813037523, + 90.97904881563687, + -1.3924707737510609 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 245.823813037523, + 93.97904881563687, + -1.3924707737510609 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 245.823813037523, + 96.97904881563687, + -1.3924707737510609 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 245.823813037523, + 99.97904881563687, + -1.3924707737510609 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 245.823813037523, + 102.97904881563687, + -1.3924707737510609 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 245.823813037523, + 105.97904881563687, + -1.3924707737510609 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 245.823813037523, + 108.97904881563687, + -1.3924707737510609 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 245.823813037523, + 111.97904881563687, + -1.3924707737510609 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 245.823813037523, + 114.97904881563687, + -1.3924707737510609 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 245.823813037523, + 117.97904881563687, + -1.3924707737510609 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 245.823813037523, + 120.97904881563687, + -1.3924707737510609 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 245.823813037523, + 123.97904881563687, + -1.3924707737510609 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 245.823813037523, + 126.97904881563687, + -1.3924707737510609 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 245.823813037523, + 129.97904881563687, + -1.3924707737510609 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 245.823813037523, + 129.97904881563687, + -1.3924707737510609 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 245.823813037523, + 129.97904881563687, + -1.3924707737510609 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 248.4218892488763, + 131.47904881563687, + -1.3924707737510609 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 251.01996546022963, + 132.97904881563687, + -1.3924707737510609 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 253.61804167158294, + 134.47904881563687, + -1.3924707737510609 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 253.61804167158294, + 134.47904881563687, + -1.3924707737510609 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 255.11804167158294, + 137.0771250269902, + -1.3924707737510609 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 256.61804167158294, + 139.6752012383435, + -1.3924707737510609 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 258.26647663116455, + 142.7095600128174, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-4-5_1926228785/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-4-5_1926228785/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bba463bf36f62abbb87f916296d00d48b3188a30 --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-4-5_1926228785/pose.jsonl @@ -0,0 +1,118 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 462.78485740630595, + -226.0996439872003, + -9.399683498920986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 462.78485740630595, + -229.0996439872003, + -9.399683498920986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 462.78485740630595, + -232.0996439872003, + -9.399683498920986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 462.78485740630595, + -235.0996439872003, + -9.399683498920986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 462.78485740630595, + -238.0996439872003, + -9.399683498920986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 462.78485740630595, + -241.0996439872003, + -9.399683498920986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 462.78485740630595, + -244.0996439872003, + -9.399683498920986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 462.78485740630595, + -247.0996439872003, + -9.399683498920986 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.3743118286133, + -298.84694976806645, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-8-28_1145357080/pose.jsonl b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-8-28_1145357080/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e10e53cec60cba11e0f212c5288309083ae626de --- /dev/null +++ b/Image/env_gs_nwpu02/astar_data/short/2025-1-16_9-8-28_1145357080/pose.jsonl @@ -0,0 +1,183 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 763.03135824404, + 26.01123624464253, + -6.72317164046865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 764.53135824404, + 23.413160033289213, + -6.72317164046865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 766.03135824404, + 20.815083821935897, + -6.72317164046865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 767.53135824404, + 18.21700761058258, + -6.72317164046865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 769.03135824404, + 15.618931399229265, + -6.72317164046865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 770.53135824404, + 13.020855187875949, + -6.72317164046865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 772.03135824404, + 10.422778976522633, + -6.72317164046865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 773.53135824404, + 7.824702765169317, + -6.72317164046865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 775.03135824404, + 5.226626553816001, + -6.72317164046865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 776.53135824404, + 2.6285503424626846, + -6.72317164046865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 778.03135824404, + 0.030474131109368585, + -6.72317164046865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 779.53135824404, + -2.5676020802439474, + -6.72317164046865 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 781.03135824404, + -5.165678291597263, + -6.72317164046865 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 785.4496536254883, + -18.975487995147706, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +}