Hugging Face's logo

Datasets:
IPEC-COMMUNITY
/
OpenFly

License:
Dataset card Files
xet
 Community
mistletoe235 commited on
Commit
3434ef9
·
verified ·
1 Parent(s): 62bd90c

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. Image/env_ue_bigcity/astar_data/high_average/2025-01-19_09-13-17_237902/pose.jsonl +327 -0
  2. Image/env_ue_bigcity/astar_data/high_average/2025-01-19_09-14-13_4189/pose.jsonl +522 -0
  3. Image/env_ue_bigcity/astar_data/high_average/2025-01-19_09-15-37_254035/pose.jsonl +574 -0
  4. Image/env_ue_bigcity/astar_data/high_average/2025-01-19_09-30-45_599137/pose.jsonl +470 -0
  5. Image/env_ue_bigcity/astar_data/high_average/2025-01-19_09-45-09_92227/pose.jsonl +574 -0
  6. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_1-58-13_596516649/pose.jsonl +67 -0
  7. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_10-10-41_1617876982/pose.jsonl +223 -0
  8. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_10-15-51_1909850543/pose.jsonl +145 -0
  9. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_10-16-17_1388803074/pose.jsonl +379 -0
  10. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_10-27-12_406011017/pose.jsonl +80 -0
  11. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_10-43-40_567304789/pose.jsonl +132 -0
  12. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_10-53-18_1460082195/pose.jsonl +535 -0
  13. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_10-9-43_927376882/pose.jsonl +171 -0
  14. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_11-15-29_738647283/pose.jsonl +522 -0
  15. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_11-16-58_772970072/pose.jsonl +327 -0
  16. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_11-20-57_1046370347/pose.jsonl +301 -0
  17. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_11-28-29_1982945082/pose.jsonl +80 -0
  18. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_11-33-8_1862875640/pose.jsonl +249 -0
  19. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_11-34-14_1022089159/pose.jsonl +171 -0
  20. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_11-48-25_1633938701/pose.jsonl +54 -0
  21. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_11-51-55_733450907/pose.jsonl +67 -0
  22. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_11-52-36_980356728/pose.jsonl +67 -0
  23. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_11-57-15_294110991/pose.jsonl +93 -0
  24. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_11-9-42_537322532/pose.jsonl +54 -0
  25. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_12-12-47_11671338/pose.jsonl +158 -0
  26. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_12-13-15_1395405989/pose.jsonl +353 -0
  27. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_12-16-21_1675575223/pose.jsonl +93 -0
  28. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_12-17-54_1862292122/pose.jsonl +483 -0
  29. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_12-24-9_1280311131/pose.jsonl +275 -0
  30. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_12-27-38_873199181/pose.jsonl +67 -0
  31. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_12-3-22_2025554010/pose.jsonl +54 -0
  32. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_12-5-3_82173109/pose.jsonl +93 -0
  33. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_12-51-34_1813080154/pose.jsonl +327 -0
  34. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_12-59-18_617909211/pose.jsonl +93 -0
  35. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_12-6-37_454333378/pose.jsonl +366 -0
  36. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_13-12-22_1326247643/pose.jsonl +158 -0
  37. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_13-13-50_610506582/pose.jsonl +314 -0
  38. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_13-14-56_1889804310/pose.jsonl +132 -0
  39. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_13-15-19_370917955/pose.jsonl +197 -0
  40. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_13-17-56_216220853/pose.jsonl +67 -0
  41. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_13-22-35_787689126/pose.jsonl +522 -0
  42. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_13-26-52_1936060910/pose.jsonl +457 -0
  43. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_13-4-47_2010794583/pose.jsonl +67 -0
  44. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_13-42-25_413360099/pose.jsonl +158 -0
  45. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_13-42-54_1844400657/pose.jsonl +353 -0
  46. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_13-8-19_500037525/pose.jsonl +184 -0
  47. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_14-21-50_2118801173/pose.jsonl +418 -0
  48. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_14-28-21_1688323172/pose.jsonl +54 -0
  49. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_14-29-3_301373537/pose.jsonl +405 -0
  50. Image/env_ue_bigcity/astar_data/high_average/2025-1-4_14-30-35_222028828/pose.jsonl +80 -0
Image/env_ue_bigcity/astar_data/high_average/2025-01-19_09-13-17_237902/pose.jsonl ADDED
@@ -0,0 +1,327 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1120.9945511076037,
6
+ -178.530671404056,
7
+ 74.16068706220098
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.6179938779915037
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1118.3964748962503,
19
+ -180.030671404056,
20
+ 74.16068706220098
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.6179938779915037
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1115.798398684897,
32
+ -181.530671404056,
33
+ 74.16068706220098
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.6179938779915037
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1113.2003224735436,
45
+ -183.030671404056,
46
+ 74.16068706220098
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.6179938779915037
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1110.6022462621902,
58
+ -184.530671404056,
59
+ 74.16068706220098
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.6179938779915037
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1108.0041700508368,
71
+ -186.030671404056,
72
+ 74.16068706220098
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.6179938779915037
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1105.4060938394834,
84
+ -187.530671404056,
85
+ 74.16068706220098
86
+ ],
87
+ "type": "go up",
88
+ "value": 3,
89
+ "yaw": -2.6179938779915037
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1105.4060938394834,
97
+ -187.530671404056,
98
+ 77.16068706220098
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.6179938779915037
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1102.80801762813,
110
+ -189.030671404056,
111
+ 77.16068706220098
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.6179938779915037
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1100.2099414167767,
123
+ -190.530671404056,
124
+ 77.16068706220098
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.6179938779915037
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1097.6118652054233,
136
+ -192.030671404056,
137
+ 77.16068706220098
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.6179938779915037
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1095.01378899407,
149
+ -193.530671404056,
150
+ 77.16068706220098
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.6179938779915037
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1092.4157127827166,
162
+ -195.030671404056,
163
+ 77.16068706220098
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.6179938779915037
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1089.8176365713632,
175
+ -196.530671404056,
176
+ 77.16068706220098
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.6179938779915037
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1087.2195603600098,
188
+ -198.030671404056,
189
+ 77.16068706220098
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.6179938779915037
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1084.6214841486565,
201
+ -199.530671404056,
202
+ 77.16068706220098
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.6179938779915037
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1082.023407937303,
214
+ -201.030671404056,
215
+ 77.16068706220098
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.6179938779915037
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1079.4253317259497,
227
+ -202.530671404056,
228
+ 77.16068706220098
229
+ ],
230
+ "type": "turn right",
231
+ "value": 30,
232
+ "yaw": -2.6179938779915037
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1079.4253317259497,
240
+ -202.530671404056,
241
+ 77.16068706220098
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -3.1415926535898024
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1076.4253317259497,
253
+ -202.530671404056,
254
+ 77.16068706220098
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 3.141592653589793
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1073.4253317259497,
266
+ -202.530671404056,
267
+ 77.16068706220098
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 3.141592653589793
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1070.4253317259497,
279
+ -202.530671404056,
280
+ 77.16068706220098
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 3.141592653589793
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 1067.4253317259497,
292
+ -202.530671404056,
293
+ 77.16068706220098
294
+ ],
295
+ "type": "go down",
296
+ "value": 3,
297
+ "yaw": 3.141592653589793
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 1067.4253317259497,
305
+ -202.530671404056,
306
+ 74.16068706220098
307
+ ],
308
+ "type": "stop",
309
+ "value": 0,
310
+ "yaw": 3.141592653589793
311
+ }
312
+ }
313
+ {
314
+ "aim_landmark": {
315
+ "color": "white",
316
+ "feature": "grid of windows",
317
+ "position": [
318
+ 1026.07188,
319
+ -220.92299,
320
+ 5.7
321
+ ],
322
+ "shape": "rectangular",
323
+ "dir": "center",
324
+ "size": "high-rise",
325
+ "type": "building"
326
+ }
327
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-01-19_09-14-13_4189/pose.jsonl ADDED
@@ -0,0 +1,522 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1403.3918783153197,
6
+ 4.058935899550221,
7
+ 71.3329198077294
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.5235987755982894
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1405.989954526673,
19
+ 5.558935899550221,
20
+ 71.3329198077294
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.5235987755982894
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1408.5880307380264,
32
+ 7.058935899550221,
33
+ 71.3329198077294
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.5235987755982894
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1411.1861069493798,
45
+ 8.558935899550221,
46
+ 71.3329198077294
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.5235987755982894
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1413.7841831607332,
58
+ 10.058935899550221,
59
+ 71.3329198077294
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.5235987755982894
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1416.3822593720865,
71
+ 11.558935899550221,
72
+ 71.3329198077294
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.5235987755982894
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1418.98033558344,
84
+ 13.058935899550221,
85
+ 71.3329198077294
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.5235987755982894
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1421.5784117947933,
97
+ 14.558935899550221,
98
+ 71.3329198077294
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.5235987755982894
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1424.1764880061467,
110
+ 16.05893589955022,
111
+ 71.3329198077294
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.5235987755982894
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1426.7745642175,
123
+ 17.55893589955022,
124
+ 71.3329198077294
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.5235987755982894
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1429.3726404288534,
136
+ 19.05893589955022,
137
+ 71.3329198077294
138
+ ],
139
+ "type": "go up",
140
+ "value": 3,
141
+ "yaw": 0.5235987755982894
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1429.3726404288534,
149
+ 19.05893589955022,
150
+ 74.3329198077294
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.5235987755982894
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1431.9707166402068,
162
+ 20.55893589955022,
163
+ 74.3329198077294
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.5235987755982894
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1434.5687928515601,
175
+ 22.05893589955022,
176
+ 74.3329198077294
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.5235987755982894
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1437.1668690629135,
188
+ 23.55893589955022,
189
+ 74.3329198077294
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.5235987755982894
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1439.764945274267,
201
+ 25.05893589955022,
202
+ 74.3329198077294
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.5235987755982894
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1442.3630214856203,
214
+ 26.55893589955022,
215
+ 74.3329198077294
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.5235987755982894
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1444.9610976969736,
227
+ 28.05893589955022,
228
+ 74.3329198077294
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.5235987755982894
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1447.559173908327,
240
+ 29.55893589955022,
241
+ 74.3329198077294
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 0.5235987755982894
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1450.1572501196804,
253
+ 31.05893589955022,
254
+ 74.3329198077294
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 0.5235987755982894
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1452.7553263310338,
266
+ 32.55893589955022,
267
+ 74.3329198077294
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 0.5235987755982894
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1455.3534025423871,
279
+ 34.05893589955022,
280
+ 74.3329198077294
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 0.5235987755982894
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 1457.9514787537405,
292
+ 35.55893589955022,
293
+ 74.3329198077294
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 0.5235987755982894
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 1460.5495549650939,
305
+ 37.05893589955022,
306
+ 74.3329198077294
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 0.5235987755982894
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 1463.1476311764472,
318
+ 38.55893589955022,
319
+ 74.3329198077294
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 0.5235987755982894
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 1465.7457073878006,
331
+ 40.05893589955022,
332
+ 74.3329198077294
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 0.5235987755982894
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 1468.343783599154,
344
+ 41.55893589955022,
345
+ 74.3329198077294
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 0.5235987755982894
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ 1470.9418598105074,
357
+ 43.05893589955022,
358
+ 74.3329198077294
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": 0.5235987755982894
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ 1473.5399360218607,
370
+ 44.55893589955022,
371
+ 74.3329198077294
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": 0.5235987755982894
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ 1476.138012233214,
383
+ 46.05893589955022,
384
+ 74.3329198077294
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": 0.5235987755982894
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ 1478.7360884445675,
396
+ 47.55893589955022,
397
+ 74.3329198077294
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": 0.5235987755982894
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ 1481.3341646559209,
409
+ 49.05893589955022,
410
+ 74.3329198077294
411
+ ],
412
+ "type": "turn right",
413
+ "value": 30,
414
+ "yaw": 0.5235987755982894
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ 1481.3341646559209,
422
+ 49.05893589955022,
423
+ 74.3329198077294
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": -9.43689570931383e-15
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ 1484.3341646559209,
435
+ 49.05893589955022,
436
+ 74.3329198077294
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": 0.0
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ 1487.3341646559209,
448
+ 49.05893589955022,
449
+ 74.3329198077294
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": 0.0
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ 1490.3341646559209,
461
+ 49.05893589955022,
462
+ 74.3329198077294
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": 0.0
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ 1493.3341646559209,
474
+ 49.05893589955022,
475
+ 74.3329198077294
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": 0.0
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ 1496.3341646559209,
487
+ 49.05893589955022,
488
+ 74.3329198077294
489
+ ],
490
+ "type": "go down",
491
+ "value": 3,
492
+ "yaw": 0.0
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ 1496.3341646559209,
500
+ 49.05893589955022,
501
+ 71.3329198077294
502
+ ],
503
+ "type": "stop",
504
+ "value": 0,
505
+ "yaw": 0.0
506
+ }
507
+ }
508
+ {
509
+ "aim_landmark": {
510
+ "color": "beige",
511
+ "feature": "ornate detailing",
512
+ "position": [
513
+ 1534.1096900000002,
514
+ 66.79603,
515
+ 0.0
516
+ ],
517
+ "shape": "rectangular",
518
+ "dir": "center",
519
+ "size": "high-rise",
520
+ "type": "building"
521
+ }
522
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-01-19_09-15-37_254035/pose.jsonl ADDED
@@ -0,0 +1,574 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1143.122848470291,
6
+ -344.585736261889,
7
+ 83.59485373928456
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1144.622848470291,
19
+ -341.9876600505357,
20
+ 83.59485373928456
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1146.122848470291,
32
+ -339.38958383918236,
33
+ 83.59485373928456
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1147.622848470291,
45
+ -336.79150762782905,
46
+ 83.59485373928456
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1149.122848470291,
58
+ -334.19343141647573,
59
+ 83.59485373928456
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1150.622848470291,
71
+ -331.5953552051224,
72
+ 83.59485373928456
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1152.122848470291,
84
+ -328.9972789937691,
85
+ 83.59485373928456
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1153.622848470291,
97
+ -326.3992027824158,
98
+ 83.59485373928456
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1155.122848470291,
110
+ -323.80112657106247,
111
+ 83.59485373928456
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1156.622848470291,
123
+ -321.20305035970915,
124
+ 83.59485373928456
125
+ ],
126
+ "type": "go up",
127
+ "value": 3,
128
+ "yaw": 1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1156.622848470291,
136
+ -321.20305035970915,
137
+ 86.59485373928456
138
+ ],
139
+ "type": "turn right",
140
+ "value": 30,
141
+ "yaw": 1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1156.622848470291,
149
+ -321.20305035970915,
150
+ 86.59485373928456
151
+ ],
152
+ "type": "turn right",
153
+ "value": 30,
154
+ "yaw": 0.523598775598299
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1156.622848470291,
162
+ -321.20305035970915,
163
+ 86.59485373928456
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.220446049250313e-16
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1159.622848470291,
175
+ -321.20305035970915,
176
+ 86.59485373928456
177
+ ],
178
+ "type": "turn left",
179
+ "value": 30,
180
+ "yaw": 0.0
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1159.622848470291,
188
+ -321.20305035970915,
189
+ 86.59485373928456
190
+ ],
191
+ "type": "turn left",
192
+ "value": 30,
193
+ "yaw": 0.5235987755982988
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1159.622848470291,
201
+ -321.20305035970915,
202
+ 86.59485373928456
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.0471975511965976
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1161.122848470291,
214
+ -318.60497414835584,
215
+ 86.59485373928456
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1162.622848470291,
227
+ -316.0068979370025,
228
+ 86.59485373928456
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1164.122848470291,
240
+ -313.4088217256492,
241
+ 86.59485373928456
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 1.0471975511965979
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1165.622848470291,
253
+ -310.8107455142959,
254
+ 86.59485373928456
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 1.0471975511965979
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1167.122848470291,
266
+ -308.2126693029426,
267
+ 86.59485373928456
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 1.0471975511965979
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1168.622848470291,
279
+ -305.61459309158926,
280
+ 86.59485373928456
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 1.0471975511965979
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 1170.122848470291,
292
+ -303.01651688023594,
293
+ 86.59485373928456
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 1.0471975511965979
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 1171.622848470291,
305
+ -300.4184406688826,
306
+ 86.59485373928456
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 1.0471975511965979
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 1173.122848470291,
318
+ -297.8203644575293,
319
+ 86.59485373928456
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 1.0471975511965979
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 1174.622848470291,
331
+ -295.222288246176,
332
+ 86.59485373928456
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 1.0471975511965979
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 1176.122848470291,
344
+ -292.6242120348227,
345
+ 86.59485373928456
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 1.0471975511965979
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ 1177.622848470291,
357
+ -290.02613582346936,
358
+ 86.59485373928456
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": 1.0471975511965979
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ 1179.122848470291,
370
+ -287.42805961211604,
371
+ 86.59485373928456
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": 1.0471975511965979
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ 1180.622848470291,
383
+ -284.8299834007627,
384
+ 86.59485373928456
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": 1.0471975511965979
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ 1182.122848470291,
396
+ -282.2319071894094,
397
+ 86.59485373928456
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": 1.0471975511965979
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ 1183.622848470291,
409
+ -279.6338309780561,
410
+ 86.59485373928456
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": 1.0471975511965979
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ 1185.122848470291,
422
+ -277.0357547667028,
423
+ 86.59485373928456
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": 1.0471975511965979
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ 1186.622848470291,
435
+ -274.43767855534946,
436
+ 86.59485373928456
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": 1.0471975511965979
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ 1188.122848470291,
448
+ -271.83960234399615,
449
+ 86.59485373928456
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": 1.0471975511965979
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ 1189.622848470291,
461
+ -269.24152613264283,
462
+ 86.59485373928456
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": 1.0471975511965979
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ 1191.122848470291,
474
+ -266.6434499212895,
475
+ 86.59485373928456
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": 1.0471975511965979
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ 1192.622848470291,
487
+ -264.0453737099362,
488
+ 86.59485373928456
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": 1.0471975511965979
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ 1194.122848470291,
500
+ -261.4472974985829,
501
+ 86.59485373928456
502
+ ],
503
+ "type": "go straight",
504
+ "value": 3,
505
+ "yaw": 1.0471975511965979
506
+ }
507
+ }
508
+ {
509
+ "action": {
510
+ "imageid": 39,
511
+ "pos": [
512
+ 1195.622848470291,
513
+ -258.84922128722957,
514
+ 86.59485373928456
515
+ ],
516
+ "type": "turn left",
517
+ "value": 30,
518
+ "yaw": 1.0471975511965979
519
+ }
520
+ }
521
+ {
522
+ "action": {
523
+ "imageid": 40,
524
+ "pos": [
525
+ 1195.622848470291,
526
+ -258.84922128722957,
527
+ 86.59485373928456
528
+ ],
529
+ "type": "go straight",
530
+ "value": 3,
531
+ "yaw": 1.5707963267948966
532
+ }
533
+ }
534
+ {
535
+ "action": {
536
+ "imageid": 41,
537
+ "pos": [
538
+ 1195.622848470291,
539
+ -255.84922128722957,
540
+ 86.59485373928456
541
+ ],
542
+ "type": "go straight",
543
+ "value": 3,
544
+ "yaw": 1.5707963267948966
545
+ }
546
+ }
547
+ {
548
+ "action": {
549
+ "imageid": 42,
550
+ "pos": [
551
+ 1195.622848470291,
552
+ -252.84922128722957,
553
+ 86.59485373928456
554
+ ],
555
+ "type": "stop",
556
+ "value": 0,
557
+ "yaw": 1.5707963267948966
558
+ }
559
+ }
560
+ {
561
+ "aim_landmark": {
562
+ "color": "tan",
563
+ "feature": "modern",
564
+ "position": [
565
+ 1216.94227,
566
+ -216.04947,
567
+ 0.0
568
+ ],
569
+ "shape": "box",
570
+ "dir": "right",
571
+ "size": "mid-rise",
572
+ "type": "building"
573
+ }
574
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-01-19_09-30-45_599137/pose.jsonl ADDED
@@ -0,0 +1,470 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1525.3398986937862,
6
+ 628.0727457918772,
7
+ 77.43423576550364
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1525.3398986937862,
19
+ 625.0727457918772,
20
+ 77.43423576550364
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1525.3398986937862,
32
+ 622.0727457918772,
33
+ 77.43423576550364
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1525.3398986937862,
45
+ 619.0727457918772,
46
+ 77.43423576550364
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -1525.3398986937862,
58
+ 616.0727457918772,
59
+ 77.43423576550364
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -1525.3398986937862,
71
+ 613.0727457918772,
72
+ 77.43423576550364
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -1525.3398986937862,
84
+ 610.0727457918772,
85
+ 77.43423576550364
86
+ ],
87
+ "type": "go up",
88
+ "value": 3,
89
+ "yaw": -1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -1525.3398986937862,
97
+ 610.0727457918772,
98
+ 80.43423576550364
99
+ ],
100
+ "type": "turn right",
101
+ "value": 30,
102
+ "yaw": -1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -1525.3398986937862,
110
+ 610.0727457918772,
111
+ 80.43423576550364
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -1526.8398986937862,
123
+ 607.4746695805238,
124
+ 80.43423576550364
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.094395102393186
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -1528.3398986937862,
136
+ 604.8765933691705,
137
+ 80.43423576550364
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.094395102393186
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -1529.8398986937862,
149
+ 602.2785171578171,
150
+ 80.43423576550364
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.094395102393186
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -1531.3398986937862,
162
+ 599.6804409464637,
163
+ 80.43423576550364
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.094395102393186
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -1532.8398986937862,
175
+ 597.0823647351103,
176
+ 80.43423576550364
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.094395102393186
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -1534.3398986937862,
188
+ 594.484288523757,
189
+ 80.43423576550364
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.094395102393186
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -1535.8398986937862,
201
+ 591.8862123124036,
202
+ 80.43423576550364
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.094395102393186
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -1537.3398986937862,
214
+ 589.2881361010502,
215
+ 80.43423576550364
216
+ ],
217
+ "type": "turn left",
218
+ "value": 30,
219
+ "yaw": -2.094395102393186
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -1537.3398986937862,
227
+ 589.2881361010502,
228
+ 80.43423576550364
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.5707963267948872
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -1537.3398986937862,
240
+ 586.2881361010502,
241
+ 80.43423576550364
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -1537.3398986937862,
253
+ 583.2881361010502,
254
+ 80.43423576550364
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -1537.3398986937862,
266
+ 580.2881361010502,
267
+ 80.43423576550364
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -1537.3398986937862,
279
+ 577.2881361010502,
280
+ 80.43423576550364
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -1537.3398986937862,
292
+ 574.2881361010502,
293
+ 80.43423576550364
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -1537.3398986937862,
305
+ 571.2881361010502,
306
+ 80.43423576550364
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -1537.3398986937862,
318
+ 568.2881361010502,
319
+ 80.43423576550364
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -1.5707963267948966
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -1537.3398986937862,
331
+ 565.2881361010502,
332
+ 80.43423576550364
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -1.5707963267948966
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -1537.3398986937862,
344
+ 562.2881361010502,
345
+ 80.43423576550364
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -1.5707963267948966
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -1537.3398986937862,
357
+ 559.2881361010502,
358
+ 80.43423576550364
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": -1.5707963267948966
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -1537.3398986937862,
370
+ 556.2881361010502,
371
+ 80.43423576550364
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": -1.5707963267948966
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -1537.3398986937862,
383
+ 553.2881361010502,
384
+ 80.43423576550364
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": -1.5707963267948966
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -1537.3398986937862,
396
+ 550.2881361010502,
397
+ 80.43423576550364
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": -1.5707963267948966
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -1537.3398986937862,
409
+ 547.2881361010502,
410
+ 80.43423576550364
411
+ ],
412
+ "type": "go down",
413
+ "value": 3,
414
+ "yaw": -1.5707963267948966
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -1537.3398986937862,
422
+ 547.2881361010502,
423
+ 77.43423576550364
424
+ ],
425
+ "type": "turn right",
426
+ "value": 30,
427
+ "yaw": -1.5707963267948966
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -1537.3398986937862,
435
+ 547.2881361010502,
436
+ 77.43423576550364
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": -2.0943951023931953
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -1538.8398986937862,
448
+ 544.6900598896968,
449
+ 77.43423576550364
450
+ ],
451
+ "type": "stop",
452
+ "value": 0,
453
+ "yaw": -2.0943951023931953
454
+ }
455
+ }
456
+ {
457
+ "aim_landmark": {
458
+ "color": "white",
459
+ "feature": "many windows",
460
+ "position": [
461
+ -1546.79188,
462
+ 504.21059,
463
+ 0.0
464
+ ],
465
+ "shape": "rectangular",
466
+ "dir": "center",
467
+ "size": "high-rise",
468
+ "type": "building"
469
+ }
470
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-01-19_09-45-09_92227/pose.jsonl ADDED
@@ -0,0 +1,574 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1389.166181019654,
6
+ 1460.5038518153435,
7
+ 70.41343146830145
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1389.166181019654,
19
+ 1457.5038518153435,
20
+ 70.41343146830145
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1389.166181019654,
32
+ 1454.5038518153435,
33
+ 70.41343146830145
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1389.166181019654,
45
+ 1451.5038518153435,
46
+ 70.41343146830145
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -1389.166181019654,
58
+ 1448.5038518153435,
59
+ 70.41343146830145
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -1389.166181019654,
71
+ 1445.5038518153435,
72
+ 70.41343146830145
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -1389.166181019654,
84
+ 1442.5038518153435,
85
+ 70.41343146830145
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -1389.166181019654,
97
+ 1439.5038518153435,
98
+ 70.41343146830145
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -1389.166181019654,
110
+ 1436.5038518153435,
111
+ 70.41343146830145
112
+ ],
113
+ "type": "go up",
114
+ "value": 3,
115
+ "yaw": -1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -1389.166181019654,
123
+ 1436.5038518153435,
124
+ 73.41343146830145
125
+ ],
126
+ "type": "go up",
127
+ "value": 3,
128
+ "yaw": -1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -1389.166181019654,
136
+ 1436.5038518153435,
137
+ 76.41343146830145
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -1389.166181019654,
149
+ 1433.5038518153435,
150
+ 76.41343146830145
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -1389.166181019654,
162
+ 1430.5038518153435,
163
+ 76.41343146830145
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -1389.166181019654,
175
+ 1427.5038518153435,
176
+ 76.41343146830145
177
+ ],
178
+ "type": "turn left",
179
+ "value": 30,
180
+ "yaw": -1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -1389.166181019654,
188
+ 1427.5038518153435,
189
+ 76.41343146830145
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -1387.666181019654,
201
+ 1424.9057756039902,
202
+ 76.41343146830145
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.0471975511966072
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -1386.166181019654,
214
+ 1422.3076993926368,
215
+ 76.41343146830145
216
+ ],
217
+ "type": "turn right",
218
+ "value": 30,
219
+ "yaw": -1.0471975511966072
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -1386.166181019654,
227
+ 1422.3076993926368,
228
+ 76.41343146830145
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.5707963267949059
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -1386.166181019654,
240
+ 1419.3076993926368,
241
+ 76.41343146830145
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -1386.166181019654,
253
+ 1416.3076993926368,
254
+ 76.41343146830145
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -1386.166181019654,
266
+ 1413.3076993926368,
267
+ 76.41343146830145
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -1386.166181019654,
279
+ 1410.3076993926368,
280
+ 76.41343146830145
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -1386.166181019654,
292
+ 1407.3076993926368,
293
+ 76.41343146830145
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -1386.166181019654,
305
+ 1404.3076993926368,
306
+ 76.41343146830145
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -1386.166181019654,
318
+ 1401.3076993926368,
319
+ 76.41343146830145
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -1.5707963267948966
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -1386.166181019654,
331
+ 1398.3076993926368,
332
+ 76.41343146830145
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -1.5707963267948966
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -1386.166181019654,
344
+ 1395.3076993926368,
345
+ 76.41343146830145
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -1.5707963267948966
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -1386.166181019654,
357
+ 1392.3076993926368,
358
+ 76.41343146830145
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": -1.5707963267948966
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -1386.166181019654,
370
+ 1389.3076993926368,
371
+ 76.41343146830145
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": -1.5707963267948966
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -1386.166181019654,
383
+ 1386.3076993926368,
384
+ 76.41343146830145
385
+ ],
386
+ "type": "turn right",
387
+ "value": 30,
388
+ "yaw": -1.5707963267948966
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -1386.166181019654,
396
+ 1386.3076993926368,
397
+ 76.41343146830145
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": -2.0943951023931953
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -1387.666181019654,
409
+ 1383.7096231812834,
410
+ 76.41343146830145
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": -2.094395102393186
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -1389.166181019654,
422
+ 1381.11154696993,
423
+ 76.41343146830145
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": -2.094395102393186
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -1390.666181019654,
435
+ 1378.5134707585767,
436
+ 76.41343146830145
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": -2.094395102393186
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -1392.166181019654,
448
+ 1375.9153945472233,
449
+ 76.41343146830145
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": -2.094395102393186
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -1393.666181019654,
461
+ 1373.31731833587,
462
+ 76.41343146830145
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": -2.094395102393186
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -1395.166181019654,
474
+ 1370.7192421245165,
475
+ 76.41343146830145
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": -2.094395102393186
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -1396.666181019654,
487
+ 1368.1211659131632,
488
+ 76.41343146830145
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": -2.094395102393186
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ -1398.166181019654,
500
+ 1365.5230897018098,
501
+ 76.41343146830145
502
+ ],
503
+ "type": "go straight",
504
+ "value": 3,
505
+ "yaw": -2.094395102393186
506
+ }
507
+ }
508
+ {
509
+ "action": {
510
+ "imageid": 39,
511
+ "pos": [
512
+ -1399.666181019654,
513
+ 1362.9250134904564,
514
+ 76.41343146830145
515
+ ],
516
+ "type": "go down",
517
+ "value": 3,
518
+ "yaw": -2.094395102393186
519
+ }
520
+ }
521
+ {
522
+ "action": {
523
+ "imageid": 40,
524
+ "pos": [
525
+ -1399.666181019654,
526
+ 1362.9250134904564,
527
+ 73.41343146830145
528
+ ],
529
+ "type": "go down",
530
+ "value": 3,
531
+ "yaw": -2.094395102393186
532
+ }
533
+ }
534
+ {
535
+ "action": {
536
+ "imageid": 41,
537
+ "pos": [
538
+ -1399.666181019654,
539
+ 1362.9250134904564,
540
+ 70.41343146830145
541
+ ],
542
+ "type": "go straight",
543
+ "value": 3,
544
+ "yaw": -2.094395102393186
545
+ }
546
+ }
547
+ {
548
+ "action": {
549
+ "imageid": 42,
550
+ "pos": [
551
+ -1401.166181019654,
552
+ 1360.326937279103,
553
+ 70.41343146830145
554
+ ],
555
+ "type": "stop",
556
+ "value": 0,
557
+ "yaw": -2.094395102393186
558
+ }
559
+ }
560
+ {
561
+ "aim_landmark": {
562
+ "color": "white",
563
+ "feature": "glass windows",
564
+ "position": [
565
+ -1408.30047,
566
+ 1312.97828,
567
+ 0.0
568
+ ],
569
+ "shape": "rectangular",
570
+ "dir": "center",
571
+ "size": "high-rise",
572
+ "type": "building"
573
+ }
574
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_1-58-13_596516649/pose.jsonl ADDED
@@ -0,0 +1,67 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1848.0745466792653,
6
+ 1465.5968854266853,
7
+ 97.21104694447781
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1848.0745466792653,
19
+ 1462.5968854266853,
20
+ 97.21104694447781
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1848.0745466792653,
32
+ 1459.5968854266853,
33
+ 97.21104694447781
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1848.0745466792653,
45
+ 1456.5968854266853,
46
+ 97.21104694447781
47
+ ],
48
+ "type": "stop",
49
+ "value": 0,
50
+ "yaw": -1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "aim_landmark": {
55
+ "color": "red",
56
+ "feature": "ornate facade",
57
+ "position": [
58
+ 1823.91438,
59
+ 1350.1471900000001,
60
+ 0.0
61
+ ],
62
+ "shape": "rectangular",
63
+ "dir": "center",
64
+ "size": "mid-rise",
65
+ "type": "building"
66
+ }
67
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_10-10-41_1617876982/pose.jsonl ADDED
@@ -0,0 +1,223 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 272.61445866052765,
6
+ -1093.8662993268777,
7
+ 78.21481651872243
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 272.61445866052765,
19
+ -1090.8662993268777,
20
+ 78.21481651872243
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 272.61445866052765,
32
+ -1087.8662993268777,
33
+ 78.21481651872243
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 272.61445866052765,
45
+ -1084.8662993268777,
46
+ 78.21481651872243
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 272.61445866052765,
58
+ -1081.8662993268777,
59
+ 78.21481651872243
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 272.61445866052765,
71
+ -1078.8662993268777,
72
+ 78.21481651872243
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 272.61445866052765,
84
+ -1075.8662993268777,
85
+ 78.21481651872243
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 272.61445866052765,
97
+ -1072.8662993268777,
98
+ 78.21481651872243
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 272.61445866052765,
110
+ -1069.8662993268777,
111
+ 78.21481651872243
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 272.61445866052765,
123
+ -1066.8662993268777,
124
+ 78.21481651872243
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 272.61445866052765,
136
+ -1063.8662993268777,
137
+ 78.21481651872243
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 272.61445866052765,
149
+ -1060.8662993268777,
150
+ 78.21481651872243
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 272.61445866052765,
162
+ -1057.8662993268777,
163
+ 78.21481651872243
164
+ ],
165
+ "type": "turn right",
166
+ "value": 30,
167
+ "yaw": 1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 272.61445866052765,
175
+ -1057.8662993268777,
176
+ 78.21481651872243
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 274.11445866052765,
188
+ -1055.2682231155243,
189
+ 78.21481651872243
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.0471975511966072
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 275.61445866052765,
201
+ -1052.670146904171,
202
+ 78.21481651872243
203
+ ],
204
+ "type": "stop",
205
+ "value": 0,
206
+ "yaw": 1.0471975511966072
207
+ }
208
+ }
209
+ {
210
+ "aim_landmark": {
211
+ "color": "beige",
212
+ "feature": "classical architecture with columns",
213
+ "position": [
214
+ 281.68875,
215
+ -961.49734,
216
+ 0.0
217
+ ],
218
+ "shape": "rectangular",
219
+ "dir": "center",
220
+ "size": "high-rise",
221
+ "type": "building"
222
+ }
223
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_10-15-51_1909850543/pose.jsonl ADDED
@@ -0,0 +1,145 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 912.2395963810508,
6
+ 1467.6669158782533,
7
+ 76.92035795740864
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.617993877991485
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 909.6415201696975,
19
+ 1466.1669158782533,
20
+ 76.92035795740864
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.617993877991485
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 907.0434439583441,
32
+ 1464.6669158782533,
33
+ 76.92035795740864
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.6179938779915037
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 904.4453677469908,
45
+ 1463.1669158782533,
46
+ 76.92035795740864
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.6179938779915037
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 901.8472915356374,
58
+ 1461.6669158782533,
59
+ 76.92035795740864
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.6179938779915037
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 899.249215324284,
71
+ 1460.1669158782533,
72
+ 76.92035795740864
73
+ ],
74
+ "type": "turn right",
75
+ "value": 30,
76
+ "yaw": -2.6179938779915037
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 899.249215324284,
84
+ 1460.1669158782533,
85
+ 76.92035795740864
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -3.1415926535898024
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 896.249215324284,
97
+ 1460.1669158782533,
98
+ 76.92035795740864
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 3.141592653589793
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 893.249215324284,
110
+ 1460.1669158782533,
111
+ 76.92035795740864
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 3.141592653589793
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 890.249215324284,
123
+ 1460.1669158782533,
124
+ 76.92035795740864
125
+ ],
126
+ "type": "stop",
127
+ "value": 0,
128
+ "yaw": 3.141592653589793
129
+ }
130
+ }
131
+ {
132
+ "aim_landmark": {
133
+ "color": "tan",
134
+ "feature": "ornate detailing",
135
+ "position": [
136
+ 805.12203,
137
+ 1427.6293799999999,
138
+ 0.0
139
+ ],
140
+ "shape": "arched",
141
+ "dir": "center",
142
+ "size": "mid-rise",
143
+ "type": "building"
144
+ }
145
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_10-16-17_1388803074/pose.jsonl ADDED
@@ -0,0 +1,379 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 404.8611264436507,
6
+ 1576.3093284524427,
7
+ 93.45732781761672
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.0471975511966072
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 406.3611264436507,
19
+ 1578.9074046637961,
20
+ 93.45732781761672
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.0471975511966072
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 407.8611264436507,
32
+ 1581.5054808751495,
33
+ 93.45732781761672
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.0471975511966072
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 409.3611264436507,
45
+ 1584.1035570865029,
46
+ 93.45732781761672
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.0471975511966072
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 410.8611264436507,
58
+ 1586.7016332978562,
59
+ 93.45732781761672
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.0471975511966072
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 412.3611264436507,
71
+ 1589.2997095092096,
72
+ 93.45732781761672
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.0471975511966072
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 413.8611264436507,
84
+ 1591.897785720563,
85
+ 93.45732781761672
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.0471975511966072
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 415.3611264436507,
97
+ 1594.4958619319164,
98
+ 93.45732781761672
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.0471975511966072
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 416.8611264436507,
110
+ 1597.0939381432697,
111
+ 93.45732781761672
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.0471975511966072
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 418.3611264436507,
123
+ 1599.692014354623,
124
+ 93.45732781761672
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.0471975511966072
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 419.8611264436507,
136
+ 1602.2900905659765,
137
+ 93.45732781761672
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.0471975511966072
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 421.3611264436507,
149
+ 1604.8881667773298,
150
+ 93.45732781761672
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.0471975511966072
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 422.8611264436507,
162
+ 1607.4862429886832,
163
+ 93.45732781761672
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.0471975511966072
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 424.3611264436507,
175
+ 1610.0843192000366,
176
+ 93.45732781761672
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.0471975511966072
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 425.8611264436507,
188
+ 1612.68239541139,
189
+ 93.45732781761672
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.0471975511966072
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 427.3611264436507,
201
+ 1615.2804716227433,
202
+ 93.45732781761672
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.0471975511966072
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 428.8611264436507,
214
+ 1617.8785478340967,
215
+ 93.45732781761672
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.0471975511966072
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 430.3611264436507,
227
+ 1620.47662404545,
228
+ 93.45732781761672
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 1.0471975511966072
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 431.8611264436507,
240
+ 1623.0747002568035,
241
+ 93.45732781761672
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 1.0471975511966072
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 433.3611264436507,
253
+ 1625.6727764681568,
254
+ 93.45732781761672
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 1.0471975511966072
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 434.8611264436507,
266
+ 1628.2708526795102,
267
+ 93.45732781761672
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 1.0471975511966072
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 436.3611264436507,
279
+ 1630.8689288908636,
280
+ 93.45732781761672
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 1.0471975511966072
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 437.8611264436507,
292
+ 1633.467005102217,
293
+ 93.45732781761672
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 1.0471975511966072
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 439.3611264436507,
305
+ 1636.0650813135703,
306
+ 93.45732781761672
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 1.0471975511966072
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 440.8611264436507,
318
+ 1638.6631575249237,
319
+ 93.45732781761672
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 1.0471975511966072
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 442.3611264436507,
331
+ 1641.261233736277,
332
+ 93.45732781761672
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 1.0471975511966072
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 443.8611264436507,
344
+ 1643.8593099476304,
345
+ 93.45732781761672
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 1.0471975511966072
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ 445.3611264436507,
357
+ 1646.4573861589838,
358
+ 93.45732781761672
359
+ ],
360
+ "type": "stop",
361
+ "value": 0,
362
+ "yaw": 1.0471975511966072
363
+ }
364
+ }
365
+ {
366
+ "aim_landmark": {
367
+ "color": "beige",
368
+ "feature": "classical architectural elements",
369
+ "position": [
370
+ 477.90297,
371
+ 1703.33422,
372
+ 0.0
373
+ ],
374
+ "shape": "rectangular",
375
+ "dir": "center",
376
+ "size": "mid-rise",
377
+ "type": "building"
378
+ }
379
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_10-27-12_406011017/pose.jsonl ADDED
@@ -0,0 +1,80 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1725.905792875813,
6
+ 1932.318520590428,
7
+ 82.4507920248946
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -0.5235987755982894
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1723.3077166644596,
19
+ 1930.818520590428,
20
+ 82.4507920248946
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -0.5235987755982894
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1720.7096404531062,
32
+ 1929.318520590428,
33
+ 82.4507920248946
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -0.5235987755982894
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1718.1115642417528,
45
+ 1927.818520590428,
46
+ 82.4507920248946
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -0.5235987755982894
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -1715.5134880303995,
58
+ 1926.318520590428,
59
+ 82.4507920248946
60
+ ],
61
+ "type": "stop",
62
+ "value": 0,
63
+ "yaw": -0.5235987755982894
64
+ }
65
+ }
66
+ {
67
+ "aim_landmark": {
68
+ "color": "tan",
69
+ "feature": "arched windows",
70
+ "position": [
71
+ -1625.2625,
72
+ 1867.7326600000001,
73
+ 0.0
74
+ ],
75
+ "shape": "rectangular",
76
+ "dir": "center",
77
+ "size": "mid-rise",
78
+ "type": "building"
79
+ }
80
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_10-43-40_567304789/pose.jsonl ADDED
@@ -0,0 +1,132 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1049.2103766637802,
6
+ 1190.8890423372188,
7
+ 80.82652288584943
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1052.2103766637802,
19
+ 1190.8890423372188,
20
+ 80.82652288584943
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1055.2103766637802,
32
+ 1190.8890423372188,
33
+ 80.82652288584943
34
+ ],
35
+ "type": "turn right",
36
+ "value": 30,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1055.2103766637802,
45
+ 1190.8890423372188,
46
+ 80.82652288584943
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -0.5235987755982988
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1057.8084528751335,
58
+ 1189.3890423372188,
59
+ 80.82652288584943
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -0.5235987755982894
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1060.406529086487,
71
+ 1187.8890423372188,
72
+ 80.82652288584943
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -0.5235987755982894
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1063.0046052978403,
84
+ 1186.3890423372188,
85
+ 80.82652288584943
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -0.5235987755982894
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1065.6026815091936,
97
+ 1184.8890423372188,
98
+ 80.82652288584943
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -0.5235987755982894
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1068.200757720547,
110
+ 1183.3890423372188,
111
+ 80.82652288584943
112
+ ],
113
+ "type": "stop",
114
+ "value": 0,
115
+ "yaw": -0.5235987755982894
116
+ }
117
+ }
118
+ {
119
+ "aim_landmark": {
120
+ "color": "dark",
121
+ "feature": "striped pattern",
122
+ "position": [
123
+ 1154.27359,
124
+ 1144.45359,
125
+ 0.0
126
+ ],
127
+ "shape": "rectangular",
128
+ "dir": "center",
129
+ "size": "high-rise",
130
+ "type": "building"
131
+ }
132
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_10-53-18_1460082195/pose.jsonl ADDED
@@ -0,0 +1,535 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1116.090651615363,
6
+ 254.13171761734299,
7
+ 83.27134079369567
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1114.590651615363,
19
+ 251.53364140598967,
20
+ 83.27134079369567
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1113.090651615363,
32
+ 248.93556519463635,
33
+ 83.27134079369567
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1111.590651615363,
45
+ 246.33748898328304,
46
+ 83.27134079369567
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -1110.090651615363,
58
+ 243.73941277192972,
59
+ 83.27134079369567
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -1108.590651615363,
71
+ 241.1413365605764,
72
+ 83.27134079369567
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -1107.090651615363,
84
+ 238.5432603492231,
85
+ 83.27134079369567
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -1105.590651615363,
97
+ 235.94518413786977,
98
+ 83.27134079369567
99
+ ],
100
+ "type": "turn left",
101
+ "value": 30,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -1105.590651615363,
110
+ 235.94518413786977,
111
+ 83.27134079369567
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -0.523598775598299
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -1102.9925754040096,
123
+ 234.44518413786977,
124
+ 83.27134079369567
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -0.5235987755982894
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -1100.3944991926562,
136
+ 232.94518413786977,
137
+ 83.27134079369567
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -0.5235987755982894
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -1097.7964229813028,
149
+ 231.44518413786977,
150
+ 83.27134079369567
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -0.5235987755982894
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -1095.1983467699495,
162
+ 229.94518413786977,
163
+ 83.27134079369567
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -0.5235987755982894
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -1092.600270558596,
175
+ 228.44518413786977,
176
+ 83.27134079369567
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -0.5235987755982894
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -1090.0021943472427,
188
+ 226.94518413786977,
189
+ 83.27134079369567
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -0.5235987755982894
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -1087.4041181358893,
201
+ 225.44518413786977,
202
+ 83.27134079369567
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -0.5235987755982894
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -1084.806041924536,
214
+ 223.94518413786977,
215
+ 83.27134079369567
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -0.5235987755982894
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -1082.2079657131826,
227
+ 222.44518413786977,
228
+ 83.27134079369567
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -0.5235987755982894
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -1079.6098895018292,
240
+ 220.94518413786977,
241
+ 83.27134079369567
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -0.5235987755982894
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -1077.0118132904759,
253
+ 219.44518413786977,
254
+ 83.27134079369567
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -0.5235987755982894
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -1074.4137370791225,
266
+ 217.94518413786977,
267
+ 83.27134079369567
268
+ ],
269
+ "type": "turn right",
270
+ "value": 30,
271
+ "yaw": -0.5235987755982894
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -1074.4137370791225,
279
+ 217.94518413786977,
280
+ 83.27134079369567
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.047197551196588
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -1072.9137370791225,
292
+ 215.34710792651646,
293
+ 83.27134079369567
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.0471975511965979
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -1071.4137370791225,
305
+ 212.74903171516314,
306
+ 83.27134079369567
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -1.0471975511965979
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -1069.9137370791225,
318
+ 210.15095550380983,
319
+ 83.27134079369567
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -1.0471975511965979
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -1068.4137370791225,
331
+ 207.5528792924565,
332
+ 83.27134079369567
333
+ ],
334
+ "type": "turn right",
335
+ "value": 30,
336
+ "yaw": -1.0471975511965979
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -1068.4137370791225,
344
+ 207.5528792924565,
345
+ 83.27134079369567
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -1.5707963267948966
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -1068.4137370791225,
357
+ 204.5528792924565,
358
+ 83.27134079369567
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": -1.5707963267948966
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -1068.4137370791225,
370
+ 201.5528792924565,
371
+ 83.27134079369567
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": -1.5707963267948966
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -1068.4137370791225,
383
+ 198.5528792924565,
384
+ 83.27134079369567
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": -1.5707963267948966
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -1068.4137370791225,
396
+ 195.5528792924565,
397
+ 83.27134079369567
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": -1.5707963267948966
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -1068.4137370791225,
409
+ 192.5528792924565,
410
+ 83.27134079369567
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": -1.5707963267948966
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -1068.4137370791225,
422
+ 189.5528792924565,
423
+ 83.27134079369567
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": -1.5707963267948966
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -1068.4137370791225,
435
+ 186.5528792924565,
436
+ 83.27134079369567
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": -1.5707963267948966
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -1068.4137370791225,
448
+ 183.5528792924565,
449
+ 83.27134079369567
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": -1.5707963267948966
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -1068.4137370791225,
461
+ 180.5528792924565,
462
+ 83.27134079369567
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": -1.5707963267948966
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -1068.4137370791225,
474
+ 177.5528792924565,
475
+ 83.27134079369567
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": -1.5707963267948966
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -1068.4137370791225,
487
+ 174.5528792924565,
488
+ 83.27134079369567
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": -1.5707963267948966
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ -1068.4137370791225,
500
+ 171.5528792924565,
501
+ 83.27134079369567
502
+ ],
503
+ "type": "go straight",
504
+ "value": 3,
505
+ "yaw": -1.5707963267948966
506
+ }
507
+ }
508
+ {
509
+ "action": {
510
+ "imageid": 39,
511
+ "pos": [
512
+ -1068.4137370791225,
513
+ 168.5528792924565,
514
+ 83.27134079369567
515
+ ],
516
+ "type": "stop",
517
+ "value": 0,
518
+ "yaw": -1.5707963267948966
519
+ }
520
+ }
521
+ {
522
+ "aim_landmark": {
523
+ "color": "beige",
524
+ "feature": "twin towers",
525
+ "position": [
526
+ -1052.4792200000002,
527
+ 140.89326,
528
+ 6.2
529
+ ],
530
+ "shape": "rectangular",
531
+ "dir": "left",
532
+ "size": "high-rise",
533
+ "type": "building"
534
+ }
535
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_10-9-43_927376882/pose.jsonl ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1770.5647523058396,
6
+ 1933.9385091339361,
7
+ 76.99606795646712
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 3.141592653589793
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1773.5647523058396,
19
+ 1933.9385091339361,
20
+ 76.99606795646712
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 3.141592653589793
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1776.5647523058396,
32
+ 1933.9385091339361,
33
+ 76.99606795646712
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 3.141592653589793
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1779.5647523058396,
45
+ 1933.9385091339361,
46
+ 76.99606795646712
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 3.141592653589793
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -1782.5647523058396,
58
+ 1933.9385091339361,
59
+ 76.99606795646712
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 3.141592653589793
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -1785.5647523058396,
71
+ 1933.9385091339361,
72
+ 76.99606795646712
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 3.141592653589793
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -1788.5647523058396,
84
+ 1933.9385091339361,
85
+ 76.99606795646712
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 3.141592653589793
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -1791.5647523058396,
97
+ 1933.9385091339361,
98
+ 76.99606795646712
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 3.141592653589793
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -1794.5647523058396,
110
+ 1933.9385091339361,
111
+ 76.99606795646712
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 3.141592653589793
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -1797.5647523058396,
123
+ 1933.9385091339361,
124
+ 76.99606795646712
125
+ ],
126
+ "type": "turn right",
127
+ "value": 30,
128
+ "yaw": 3.141592653589793
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -1797.5647523058396,
136
+ 1933.9385091339361,
137
+ 76.99606795646712
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.6179938779914944
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -1800.162828517193,
149
+ 1935.4385091339361,
150
+ 76.99606795646712
151
+ ],
152
+ "type": "stop",
153
+ "value": 0,
154
+ "yaw": 2.6179938779914944
155
+ }
156
+ }
157
+ {
158
+ "aim_landmark": {
159
+ "color": "white",
160
+ "feature": "grid-like facade",
161
+ "position": [
162
+ -1900.76375,
163
+ 1948.5465599999998,
164
+ 0.0
165
+ ],
166
+ "shape": "rectangular",
167
+ "dir": "center",
168
+ "size": "high-rise",
169
+ "type": "building"
170
+ }
171
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_11-15-29_738647283/pose.jsonl ADDED
@@ -0,0 +1,522 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1299.081710439228,
6
+ -312.2906180971121,
7
+ 81.7667672131565
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1299.081710439228,
19
+ -315.2906180971121,
20
+ 81.7667672131565
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1299.081710439228,
32
+ -318.2906180971121,
33
+ 81.7667672131565
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1299.081710439228,
45
+ -321.2906180971121,
46
+ 81.7667672131565
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1299.081710439228,
58
+ -324.2906180971121,
59
+ 81.7667672131565
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1299.081710439228,
71
+ -327.2906180971121,
72
+ 81.7667672131565
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1299.081710439228,
84
+ -330.2906180971121,
85
+ 81.7667672131565
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1299.081710439228,
97
+ -333.2906180971121,
98
+ 81.7667672131565
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1299.081710439228,
110
+ -336.2906180971121,
111
+ 81.7667672131565
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1299.081710439228,
123
+ -339.2906180971121,
124
+ 81.7667672131565
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1299.081710439228,
136
+ -342.2906180971121,
137
+ 81.7667672131565
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1299.081710439228,
149
+ -345.2906180971121,
150
+ 81.7667672131565
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1299.081710439228,
162
+ -348.2906180971121,
163
+ 81.7667672131565
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1299.081710439228,
175
+ -351.2906180971121,
176
+ 81.7667672131565
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1299.081710439228,
188
+ -354.2906180971121,
189
+ 81.7667672131565
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1299.081710439228,
201
+ -357.2906180971121,
202
+ 81.7667672131565
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1299.081710439228,
214
+ -360.2906180971121,
215
+ 81.7667672131565
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1299.081710439228,
227
+ -363.2906180971121,
228
+ 81.7667672131565
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1299.081710439228,
240
+ -366.2906180971121,
241
+ 81.7667672131565
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1299.081710439228,
253
+ -369.2906180971121,
254
+ 81.7667672131565
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1299.081710439228,
266
+ -372.2906180971121,
267
+ 81.7667672131565
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1299.081710439228,
279
+ -375.2906180971121,
280
+ 81.7667672131565
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 1299.081710439228,
292
+ -378.2906180971121,
293
+ 81.7667672131565
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 1299.081710439228,
305
+ -381.2906180971121,
306
+ 81.7667672131565
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 1299.081710439228,
318
+ -384.2906180971121,
319
+ 81.7667672131565
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -1.5707963267948966
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 1299.081710439228,
331
+ -387.2906180971121,
332
+ 81.7667672131565
333
+ ],
334
+ "type": "turn right",
335
+ "value": 30,
336
+ "yaw": -1.5707963267948966
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 1299.081710439228,
344
+ -387.2906180971121,
345
+ 81.7667672131565
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -2.0943951023931953
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ 1297.581710439228,
357
+ -389.8886943084654,
358
+ 81.7667672131565
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": -2.0943951023931953
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ 1296.081710439228,
370
+ -392.4867705198187,
371
+ 81.7667672131565
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": -2.0943951023931953
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ 1294.581710439228,
383
+ -395.08484673117204,
384
+ 81.7667672131565
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": -2.0943951023931953
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ 1293.081710439228,
396
+ -397.68292294252535,
397
+ 81.7667672131565
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": -2.0943951023931953
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ 1291.581710439228,
409
+ -400.28099915387867,
410
+ 81.7667672131565
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": -2.0943951023931953
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ 1290.081710439228,
422
+ -402.879075365232,
423
+ 81.7667672131565
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": -2.0943951023931953
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ 1288.581710439228,
435
+ -405.4771515765853,
436
+ 81.7667672131565
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": -2.0943951023931953
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ 1287.081710439228,
448
+ -408.0752277879386,
449
+ 81.7667672131565
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": -2.0943951023931953
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ 1285.581710439228,
461
+ -410.67330399929193,
462
+ 81.7667672131565
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": -2.0943951023931953
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ 1284.081710439228,
474
+ -413.27138021064525,
475
+ 81.7667672131565
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": -2.0943951023931953
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ 1282.581710439228,
487
+ -415.86945642199856,
488
+ 81.7667672131565
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": -2.0943951023931953
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ 1281.081710439228,
500
+ -418.4675326333519,
501
+ 81.7667672131565
502
+ ],
503
+ "type": "stop",
504
+ "value": 0,
505
+ "yaw": -2.0943951023931953
506
+ }
507
+ }
508
+ {
509
+ "aim_landmark": {
510
+ "color": "white",
511
+ "feature": "classical architectural elements",
512
+ "position": [
513
+ 1274.12742,
514
+ -449.33977,
515
+ 0.0
516
+ ],
517
+ "shape": "rectangular",
518
+ "dir": "center",
519
+ "size": "high-rise",
520
+ "type": "building"
521
+ }
522
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_11-16-58_772970072/pose.jsonl ADDED
@@ -0,0 +1,327 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1743.245957178224,
6
+ 342.22160081078795,
7
+ 89.75443375412307
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 3.141592653589793
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1740.245957178224,
19
+ 342.22160081078795,
20
+ 89.75443375412307
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 3.141592653589793
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1737.245957178224,
32
+ 342.22160081078795,
33
+ 89.75443375412307
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 3.141592653589793
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1734.245957178224,
45
+ 342.22160081078795,
46
+ 89.75443375412307
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 3.141592653589793
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1731.245957178224,
58
+ 342.22160081078795,
59
+ 89.75443375412307
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 3.141592653589793
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1728.245957178224,
71
+ 342.22160081078795,
72
+ 89.75443375412307
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 3.141592653589793
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1725.245957178224,
84
+ 342.22160081078795,
85
+ 89.75443375412307
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 3.141592653589793
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1722.245957178224,
97
+ 342.22160081078795,
98
+ 89.75443375412307
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 3.141592653589793
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1719.245957178224,
110
+ 342.22160081078795,
111
+ 89.75443375412307
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 3.141592653589793
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1716.245957178224,
123
+ 342.22160081078795,
124
+ 89.75443375412307
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 3.141592653589793
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1713.245957178224,
136
+ 342.22160081078795,
137
+ 89.75443375412307
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 3.141592653589793
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1710.245957178224,
149
+ 342.22160081078795,
150
+ 89.75443375412307
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 3.141592653589793
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1707.245957178224,
162
+ 342.22160081078795,
163
+ 89.75443375412307
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 3.141592653589793
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1704.245957178224,
175
+ 342.22160081078795,
176
+ 89.75443375412307
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 3.141592653589793
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1701.245957178224,
188
+ 342.22160081078795,
189
+ 89.75443375412307
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 3.141592653589793
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1698.245957178224,
201
+ 342.22160081078795,
202
+ 89.75443375412307
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 3.141592653589793
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1695.245957178224,
214
+ 342.22160081078795,
215
+ 89.75443375412307
216
+ ],
217
+ "type": "turn left",
218
+ "value": 30,
219
+ "yaw": 3.141592653589793
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1695.245957178224,
227
+ 342.22160081078795,
228
+ 89.75443375412307
229
+ ],
230
+ "type": "turn left",
231
+ "value": 30,
232
+ "yaw": 3.665191429188092
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1695.245957178224,
240
+ 342.22160081078795,
241
+ 89.75443375412307
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 4.1887902047863905
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1693.745957178224,
253
+ 339.62352459943463,
254
+ 89.75443375412307
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1692.245957178224,
266
+ 337.0254483880813,
267
+ 89.75443375412307
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1690.745957178224,
279
+ 334.427372176728,
280
+ 89.75443375412307
281
+ ],
282
+ "type": "turn right",
283
+ "value": 30,
284
+ "yaw": -2.0943951023931953
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 1690.745957178224,
292
+ 334.427372176728,
293
+ 89.75443375412307
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -2.617993877991494
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 1688.1478809668706,
305
+ 332.927372176728,
306
+ 89.75443375412307
307
+ ],
308
+ "type": "stop",
309
+ "value": 0,
310
+ "yaw": -2.617993877991494
311
+ }
312
+ }
313
+ {
314
+ "aim_landmark": {
315
+ "color": "white",
316
+ "feature": "arched windows",
317
+ "position": [
318
+ 1639.0703099999998,
319
+ 322.02619,
320
+ 0.0
321
+ ],
322
+ "shape": "rectangular",
323
+ "dir": "center",
324
+ "size": "mid-rise",
325
+ "type": "building"
326
+ }
327
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_11-20-57_1046370347/pose.jsonl ADDED
@@ -0,0 +1,301 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1374.6178297956512,
6
+ 1188.8690009228076,
7
+ 95.99958808358923
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1377.6178297956512,
19
+ 1188.8690009228076,
20
+ 95.99958808358923
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1380.6178297956512,
32
+ 1188.8690009228076,
33
+ 95.99958808358923
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1383.6178297956512,
45
+ 1188.8690009228076,
46
+ 95.99958808358923
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1386.6178297956512,
58
+ 1188.8690009228076,
59
+ 95.99958808358923
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1389.6178297956512,
71
+ 1188.8690009228076,
72
+ 95.99958808358923
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1392.6178297956512,
84
+ 1188.8690009228076,
85
+ 95.99958808358923
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1395.6178297956512,
97
+ 1188.8690009228076,
98
+ 95.99958808358923
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1398.6178297956512,
110
+ 1188.8690009228076,
111
+ 95.99958808358923
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1401.6178297956512,
123
+ 1188.8690009228076,
124
+ 95.99958808358923
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.0
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1404.6178297956512,
136
+ 1188.8690009228076,
137
+ 95.99958808358923
138
+ ],
139
+ "type": "turn left",
140
+ "value": 30,
141
+ "yaw": 0.0
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1404.6178297956512,
149
+ 1188.8690009228076,
150
+ 95.99958808358923
151
+ ],
152
+ "type": "turn left",
153
+ "value": 30,
154
+ "yaw": 0.5235987755982988
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1404.6178297956512,
162
+ 1188.8690009228076,
163
+ 95.99958808358923
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.0471975511965976
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1406.1178297956512,
175
+ 1191.467077134161,
176
+ 95.99958808358923
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.0471975511966072
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1407.6178297956512,
188
+ 1194.0651533455143,
189
+ 95.99958808358923
190
+ ],
191
+ "type": "turn right",
192
+ "value": 30,
193
+ "yaw": 1.0471975511966072
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1407.6178297956512,
201
+ 1194.0651533455143,
202
+ 95.99958808358923
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.5235987755983084
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1410.2159060070046,
214
+ 1195.5651533455143,
215
+ 95.99958808358923
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.5235987755982894
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1412.813982218358,
227
+ 1197.0651533455143,
228
+ 95.99958808358923
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.5235987755982894
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1415.4120584297114,
240
+ 1198.5651533455143,
241
+ 95.99958808358923
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 0.5235987755982894
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1418.0101346410647,
253
+ 1200.0651533455143,
254
+ 95.99958808358923
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 0.5235987755982894
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1420.608210852418,
266
+ 1201.5651533455143,
267
+ 95.99958808358923
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 0.5235987755982894
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1423.2062870637715,
279
+ 1203.0651533455143,
280
+ 95.99958808358923
281
+ ],
282
+ "type": "stop",
283
+ "value": 0,
284
+ "yaw": 0.5235987755982894
285
+ }
286
+ }
287
+ {
288
+ "aim_landmark": {
289
+ "color": "red",
290
+ "feature": "arched windows",
291
+ "position": [
292
+ 1494.72906,
293
+ 1229.09117,
294
+ 0.0
295
+ ],
296
+ "shape": "rectangular",
297
+ "dir": "center",
298
+ "size": "mid-rise",
299
+ "type": "building"
300
+ }
301
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_11-28-29_1982945082/pose.jsonl ADDED
@@ -0,0 +1,80 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 505.14324377555215,
6
+ 1768.070744376088,
7
+ 85.49634543456403
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.6179938779914944
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 502.54516756419883,
19
+ 1769.570744376088,
20
+ 85.49634543456403
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.6179938779914944
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 499.9470913528455,
32
+ 1771.070744376088,
33
+ 85.49634543456403
34
+ ],
35
+ "type": "turn right",
36
+ "value": 30,
37
+ "yaw": 2.6179938779914944
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 499.9470913528455,
45
+ 1771.070744376088,
46
+ 85.49634543456403
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.0943951023931957
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 498.4470913528455,
58
+ 1773.6688205874414,
59
+ 85.49634543456403
60
+ ],
61
+ "type": "stop",
62
+ "value": 0,
63
+ "yaw": 2.0943951023931957
64
+ }
65
+ }
66
+ {
67
+ "aim_landmark": {
68
+ "color": "red",
69
+ "feature": "ornate detailing",
70
+ "position": [
71
+ 397.77629,
72
+ 1857.42703,
73
+ 0.0
74
+ ],
75
+ "shape": "rectangular",
76
+ "dir": "center",
77
+ "size": "high-rise",
78
+ "type": "building"
79
+ }
80
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_11-33-8_1862875640/pose.jsonl ADDED
@@ -0,0 +1,249 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1903.3860075728123,
6
+ 1342.329356481093,
7
+ 80.63923808220854
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.094395102393186
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1901.8860075728123,
19
+ 1339.7312802697397,
20
+ 80.63923808220854
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.094395102393186
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1900.3860075728123,
32
+ 1337.1332040583864,
33
+ 80.63923808220854
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.094395102393186
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1898.8860075728123,
45
+ 1334.535127847033,
46
+ 80.63923808220854
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.094395102393186
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1897.3860075728123,
58
+ 1331.9370516356796,
59
+ 80.63923808220854
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.094395102393186
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1895.8860075728123,
71
+ 1329.3389754243262,
72
+ 80.63923808220854
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.094395102393186
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1894.3860075728123,
84
+ 1326.7408992129729,
85
+ 80.63923808220854
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.094395102393186
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1892.8860075728123,
97
+ 1324.1428230016195,
98
+ 80.63923808220854
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.094395102393186
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1891.3860075728123,
110
+ 1321.5447467902661,
111
+ 80.63923808220854
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.094395102393186
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1889.8860075728123,
123
+ 1318.9466705789127,
124
+ 80.63923808220854
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.094395102393186
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1888.3860075728123,
136
+ 1316.3485943675594,
137
+ 80.63923808220854
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.094395102393186
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1886.8860075728123,
149
+ 1313.750518156206,
150
+ 80.63923808220854
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.094395102393186
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1885.3860075728123,
162
+ 1311.1524419448526,
163
+ 80.63923808220854
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.094395102393186
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1883.8860075728123,
175
+ 1308.5543657334993,
176
+ 80.63923808220854
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.094395102393186
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1882.3860075728123,
188
+ 1305.9562895221459,
189
+ 80.63923808220854
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.094395102393186
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1880.8860075728123,
201
+ 1303.3582133107925,
202
+ 80.63923808220854
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.094395102393186
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1879.3860075728123,
214
+ 1300.7601370994391,
215
+ 80.63923808220854
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.094395102393186
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1877.8860075728123,
227
+ 1298.1620608880858,
228
+ 80.63923808220854
229
+ ],
230
+ "type": "stop",
231
+ "value": 0,
232
+ "yaw": -2.094395102393186
233
+ }
234
+ }
235
+ {
236
+ "aim_landmark": {
237
+ "color": "tan",
238
+ "feature": "ornate facade",
239
+ "position": [
240
+ 1846.8525,
241
+ 1246.85852,
242
+ 0.0
243
+ ],
244
+ "shape": "rectangular",
245
+ "dir": "center",
246
+ "size": "mid-rise",
247
+ "type": "building"
248
+ }
249
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_11-34-14_1022089159/pose.jsonl ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 954.5196914165749,
6
+ 365.63370879351066,
7
+ 92.54270961798176
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.6179938779915037
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 951.9216152052215,
19
+ 367.13370879351066,
20
+ 92.54270961798176
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.6179938779915037
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 949.3235389938682,
32
+ 368.63370879351066,
33
+ 92.54270961798176
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.6179938779915037
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 946.7254627825148,
45
+ 370.13370879351066,
46
+ 92.54270961798176
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.6179938779915037
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 944.1273865711614,
58
+ 371.63370879351066,
59
+ 92.54270961798176
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.6179938779915037
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 941.529310359808,
71
+ 373.13370879351066,
72
+ 92.54270961798176
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.6179938779915037
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 938.9312341484547,
84
+ 374.63370879351066,
85
+ 92.54270961798176
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.6179938779915037
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 936.3331579371013,
97
+ 376.13370879351066,
98
+ 92.54270961798176
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.6179938779915037
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 933.7350817257479,
110
+ 377.63370879351066,
111
+ 92.54270961798176
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.6179938779915037
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 931.1370055143946,
123
+ 379.13370879351066,
124
+ 92.54270961798176
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.6179938779915037
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 928.5389293030412,
136
+ 380.63370879351066,
137
+ 92.54270961798176
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.6179938779915037
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 925.9408530916878,
149
+ 382.13370879351066,
150
+ 92.54270961798176
151
+ ],
152
+ "type": "stop",
153
+ "value": 0,
154
+ "yaw": 2.6179938779915037
155
+ }
156
+ }
157
+ {
158
+ "aim_landmark": {
159
+ "color": "beige",
160
+ "feature": "classical architectural elements",
161
+ "position": [
162
+ 823.02219,
163
+ 435.68309,
164
+ 0.0
165
+ ],
166
+ "shape": "rectangular",
167
+ "dir": "center",
168
+ "size": "high-rise",
169
+ "type": "building"
170
+ }
171
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_11-48-25_1633938701/pose.jsonl ADDED
@@ -0,0 +1,54 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1987.1940747867625,
6
+ 1754.3449493884918,
7
+ 78.5004594197773
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.6179938779915037
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1989.7921509981159,
19
+ 1755.8449493884918,
20
+ 78.5004594197773
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.6179938779915037
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1992.3902272094692,
32
+ 1757.3449493884918,
33
+ 78.5004594197773
34
+ ],
35
+ "type": "stop",
36
+ "value": 0,
37
+ "yaw": 2.6179938779915037
38
+ }
39
+ }
40
+ {
41
+ "aim_landmark": {
42
+ "color": "dark",
43
+ "feature": "grid-like facade",
44
+ "position": [
45
+ -2093.97312,
46
+ 1836.38875,
47
+ 0.0
48
+ ],
49
+ "shape": "rectangular",
50
+ "dir": "center",
51
+ "size": "high-rise",
52
+ "type": "building"
53
+ }
54
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_11-51-55_733450907/pose.jsonl ADDED
@@ -0,0 +1,67 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1052.4016778755895,
6
+ 1375.2566978759755,
7
+ 90.46448634522446
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -0.5235987755982894
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1054.9997540869429,
19
+ 1373.7566978759755,
20
+ 90.46448634522446
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -0.5235987755982894
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1057.5978302982962,
32
+ 1372.2566978759755,
33
+ 90.46448634522446
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -0.5235987755982894
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1060.1959065096496,
45
+ 1370.7566978759755,
46
+ 90.46448634522446
47
+ ],
48
+ "type": "stop",
49
+ "value": 0,
50
+ "yaw": -0.5235987755982894
51
+ }
52
+ }
53
+ {
54
+ "aim_landmark": {
55
+ "color": "white",
56
+ "feature": "classical architectural elements",
57
+ "position": [
58
+ 1149.49891,
59
+ 1317.0145300000001,
60
+ 0.0
61
+ ],
62
+ "shape": "rectangular",
63
+ "dir": "center",
64
+ "size": "high-rise",
65
+ "type": "building"
66
+ }
67
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_11-52-36_980356728/pose.jsonl ADDED
@@ -0,0 +1,67 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1346.5451153952913,
6
+ 1194.5444768076097,
7
+ 81.869979292999
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1343.5451153952913,
19
+ 1194.5444768076097,
20
+ 81.869979292999
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1340.5451153952913,
32
+ 1194.5444768076097,
33
+ 81.869979292999
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1337.5451153952913,
45
+ 1194.5444768076097,
46
+ 81.869979292999
47
+ ],
48
+ "type": "stop",
49
+ "value": 0,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "aim_landmark": {
55
+ "color": "red",
56
+ "feature": "elevated structure",
57
+ "position": [
58
+ -1201.0381200000002,
59
+ 1225.92578,
60
+ 0.0
61
+ ],
62
+ "shape": "rectangular",
63
+ "dir": "center",
64
+ "size": "high-rise",
65
+ "type": "building"
66
+ }
67
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_11-57-15_294110991/pose.jsonl ADDED
@@ -0,0 +1,93 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -572.1635312870004,
6
+ -136.66996300209135,
7
+ 72.58385462921662
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -573.6635312870004,
19
+ -139.26803921344467,
20
+ 72.58385462921662
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -575.1635312870004,
32
+ -141.86611542479798,
33
+ 72.58385462921662
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -576.6635312870004,
45
+ -144.4641916361513,
46
+ 72.58385462921662
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -578.1635312870004,
58
+ -147.06226784750461,
59
+ 72.58385462921662
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -579.6635312870004,
71
+ -149.66034405885793,
72
+ 72.58385462921662
73
+ ],
74
+ "type": "stop",
75
+ "value": 0,
76
+ "yaw": -2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "aim_landmark": {
81
+ "color": "beige",
82
+ "feature": "grid-like facade",
83
+ "position": [
84
+ -650.73926,
85
+ -244.54615,
86
+ 0.0
87
+ ],
88
+ "shape": "rectangular",
89
+ "dir": "center",
90
+ "size": "high-rise",
91
+ "type": "building"
92
+ }
93
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_11-9-42_537322532/pose.jsonl ADDED
@@ -0,0 +1,54 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 635.3130462650004,
6
+ 1468.7994343905405,
7
+ 79.36605007913047
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 638.3130462650004,
19
+ 1468.7994343905405,
20
+ 79.36605007913047
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 641.3130462650004,
32
+ 1468.7994343905405,
33
+ 79.36605007913047
34
+ ],
35
+ "type": "stop",
36
+ "value": 0,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "aim_landmark": {
42
+ "color": "tan",
43
+ "feature": "ornate facade",
44
+ "position": [
45
+ 752.02164,
46
+ 1511.58781,
47
+ 0.0
48
+ ],
49
+ "shape": "rectangular",
50
+ "dir": "center",
51
+ "size": "mid-rise",
52
+ "type": "building"
53
+ }
54
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_12-12-47_11671338/pose.jsonl ADDED
@@ -0,0 +1,158 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -799.9738359407474,
6
+ 1168.7707529593156,
7
+ 75.90559706745105
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -799.9738359407474,
19
+ 1165.7707529593156,
20
+ 75.90559706745105
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -799.9738359407474,
32
+ 1162.7707529593156,
33
+ 75.90559706745105
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -799.9738359407474,
45
+ 1159.7707529593156,
46
+ 75.90559706745105
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -799.9738359407474,
58
+ 1156.7707529593156,
59
+ 75.90559706745105
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -799.9738359407474,
71
+ 1153.7707529593156,
72
+ 75.90559706745105
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -799.9738359407474,
84
+ 1150.7707529593156,
85
+ 75.90559706745105
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -799.9738359407474,
97
+ 1147.7707529593156,
98
+ 75.90559706745105
99
+ ],
100
+ "type": "turn right",
101
+ "value": 30,
102
+ "yaw": -1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -799.9738359407474,
110
+ 1147.7707529593156,
111
+ 75.90559706745105
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -801.4738359407474,
123
+ 1145.1726767479622,
124
+ 75.90559706745105
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.094395102393186
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -802.9738359407474,
136
+ 1142.5746005366088,
137
+ 75.90559706745105
138
+ ],
139
+ "type": "stop",
140
+ "value": 0,
141
+ "yaw": -2.094395102393186
142
+ }
143
+ }
144
+ {
145
+ "aim_landmark": {
146
+ "color": "beige",
147
+ "feature": "elevated structure",
148
+ "position": [
149
+ -821.67188,
150
+ 1029.64602,
151
+ 0.0
152
+ ],
153
+ "shape": "rectangular",
154
+ "dir": "center",
155
+ "size": "mid-rise",
156
+ "type": "building"
157
+ }
158
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_12-13-15_1395405989/pose.jsonl ADDED
@@ -0,0 +1,353 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -880.234936487509,
6
+ 1401.446573080256,
7
+ 81.39355022498795
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.0471975511966072
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -878.734936487509,
19
+ 1404.0446492916094,
20
+ 81.39355022498795
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.0471975511966072
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -877.234936487509,
32
+ 1406.6427255029628,
33
+ 81.39355022498795
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.0471975511966072
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -875.734936487509,
45
+ 1409.2408017143161,
46
+ 81.39355022498795
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.0471975511966072
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -874.234936487509,
58
+ 1411.8388779256695,
59
+ 81.39355022498795
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.0471975511966072
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -872.734936487509,
71
+ 1414.436954137023,
72
+ 81.39355022498795
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.0471975511966072
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -871.234936487509,
84
+ 1417.0350303483763,
85
+ 81.39355022498795
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.0471975511966072
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -869.734936487509,
97
+ 1419.6331065597296,
98
+ 81.39355022498795
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.0471975511966072
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -868.234936487509,
110
+ 1422.231182771083,
111
+ 81.39355022498795
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.0471975511966072
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -866.734936487509,
123
+ 1424.8292589824364,
124
+ 81.39355022498795
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.0471975511966072
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -865.234936487509,
136
+ 1427.4273351937898,
137
+ 81.39355022498795
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.0471975511966072
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -863.734936487509,
149
+ 1430.0254114051431,
150
+ 81.39355022498795
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.0471975511966072
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -862.234936487509,
162
+ 1432.6234876164965,
163
+ 81.39355022498795
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.0471975511966072
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -860.734936487509,
175
+ 1435.2215638278499,
176
+ 81.39355022498795
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.0471975511966072
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -859.234936487509,
188
+ 1437.8196400392033,
189
+ 81.39355022498795
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.0471975511966072
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -857.734936487509,
201
+ 1440.4177162505566,
202
+ 81.39355022498795
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.0471975511966072
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -856.234936487509,
214
+ 1443.01579246191,
215
+ 81.39355022498795
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.0471975511966072
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -854.734936487509,
227
+ 1445.6138686732634,
228
+ 81.39355022498795
229
+ ],
230
+ "type": "turn left",
231
+ "value": 30,
232
+ "yaw": 1.0471975511966072
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -854.734936487509,
240
+ 1445.6138686732634,
241
+ 81.39355022498795
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 1.5707963267949059
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -854.734936487509,
253
+ 1448.6138686732634,
254
+ 81.39355022498795
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -854.734936487509,
266
+ 1451.6138686732634,
267
+ 81.39355022498795
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -854.734936487509,
279
+ 1454.6138686732634,
280
+ 81.39355022498795
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -854.734936487509,
292
+ 1457.6138686732634,
293
+ 81.39355022498795
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -854.734936487509,
305
+ 1460.6138686732634,
306
+ 81.39355022498795
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -854.734936487509,
318
+ 1463.6138686732634,
319
+ 81.39355022498795
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 1.5707963267948966
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -854.734936487509,
331
+ 1466.6138686732634,
332
+ 81.39355022498795
333
+ ],
334
+ "type": "stop",
335
+ "value": 0,
336
+ "yaw": 1.5707963267948966
337
+ }
338
+ }
339
+ {
340
+ "aim_landmark": {
341
+ "color": "red",
342
+ "feature": "ornate facade",
343
+ "position": [
344
+ -838.44008,
345
+ 1500.25828,
346
+ 0.0
347
+ ],
348
+ "shape": "rectangular",
349
+ "dir": "center",
350
+ "size": "high-rise",
351
+ "type": "building"
352
+ }
353
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_12-16-21_1675575223/pose.jsonl ADDED
@@ -0,0 +1,93 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1288.056259299944,
6
+ -48.39198744070336,
7
+ 93.56179606981445
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1288.056259299944,
19
+ -45.39198744070336,
20
+ 93.56179606981445
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1288.056259299944,
32
+ -42.39198744070336,
33
+ 93.56179606981445
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1288.056259299944,
45
+ -39.39198744070336,
46
+ 93.56179606981445
47
+ ],
48
+ "type": "turn right",
49
+ "value": 30,
50
+ "yaw": 1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -1288.056259299944,
58
+ -39.39198744070336,
59
+ 93.56179606981445
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -1286.556259299944,
71
+ -36.793911229350044,
72
+ 93.56179606981445
73
+ ],
74
+ "type": "stop",
75
+ "value": 0,
76
+ "yaw": 1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "aim_landmark": {
81
+ "color": "white",
82
+ "feature": "elevated structure",
83
+ "position": [
84
+ -1258.60703,
85
+ 76.50697,
86
+ 0.0
87
+ ],
88
+ "shape": "rectangular",
89
+ "dir": "center",
90
+ "size": "mid-rise",
91
+ "type": "building"
92
+ }
93
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_12-17-54_1862292122/pose.jsonl ADDED
@@ -0,0 +1,483 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -990.3817888446089,
6
+ 253.54587322260858,
7
+ 84.24776811407563
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -991.8817888446089,
19
+ 250.94779701125526,
20
+ 84.24776811407563
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -993.3817888446089,
32
+ 248.34972079990195,
33
+ 84.24776811407563
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -994.8817888446089,
45
+ 245.75164458854863,
46
+ 84.24776811407563
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -996.3817888446089,
58
+ 243.1535683771953,
59
+ 84.24776811407563
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -997.8817888446089,
71
+ 240.555492165842,
72
+ 84.24776811407563
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -999.3817888446089,
84
+ 237.95741595448868,
85
+ 84.24776811407563
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -1000.8817888446089,
97
+ 235.35933974313537,
98
+ 84.24776811407563
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -1002.3817888446089,
110
+ 232.76126353178205,
111
+ 84.24776811407563
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -1003.8817888446089,
123
+ 230.16318732042873,
124
+ 84.24776811407563
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -1005.3817888446089,
136
+ 227.56511110907542,
137
+ 84.24776811407563
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -1006.8817888446089,
149
+ 224.9670348977221,
150
+ 84.24776811407563
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -1008.3817888446089,
162
+ 222.36895868636879,
163
+ 84.24776811407563
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -1009.8817888446089,
175
+ 219.77088247501547,
176
+ 84.24776811407563
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -1011.3817888446089,
188
+ 217.17280626366215,
189
+ 84.24776811407563
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -1012.8817888446089,
201
+ 214.57473005230884,
202
+ 84.24776811407563
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -1014.3817888446089,
214
+ 211.97665384095552,
215
+ 84.24776811407563
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -1015.8817888446089,
227
+ 209.3785776296022,
228
+ 84.24776811407563
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -1017.3817888446089,
240
+ 206.7805014182489,
241
+ 84.24776811407563
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -1018.8817888446089,
253
+ 204.18242520689557,
254
+ 84.24776811407563
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -1020.3817888446089,
266
+ 201.58434899554226,
267
+ 84.24776811407563
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -1021.8817888446089,
279
+ 198.98627278418894,
280
+ 84.24776811407563
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -2.0943951023931953
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -1023.3817888446089,
292
+ 196.38819657283562,
293
+ 84.24776811407563
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -2.0943951023931953
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -1024.8817888446088,
305
+ 193.7901203614823,
306
+ 84.24776811407563
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -2.094395102393163
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -1026.3817888446088,
318
+ 191.192044150129,
319
+ 84.24776811407563
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -2.0943951023931953
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -1027.8817888446088,
331
+ 188.59396793877568,
332
+ 84.24776811407563
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -2.0943951023931953
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -1029.3817888446088,
344
+ 185.99589172742236,
345
+ 84.24776811407563
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -2.0943951023931953
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -1030.8817888446088,
357
+ 183.39781551606904,
358
+ 84.24776811407563
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": -2.0943951023931953
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -1032.3817888446088,
370
+ 180.79973930471573,
371
+ 84.24776811407563
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": -2.0943951023931953
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -1033.8817888446088,
383
+ 178.2016630933624,
384
+ 84.24776811407563
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": -2.0943951023931953
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -1035.3817888446088,
396
+ 175.6035868820091,
397
+ 84.24776811407563
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": -2.0943951023931953
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -1036.8817888446088,
409
+ 173.00551067065578,
410
+ 84.24776811407563
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": -2.0943951023931953
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -1038.3817888446088,
422
+ 170.40743445930246,
423
+ 84.24776811407563
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": -2.0943951023931953
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -1039.8817888446088,
435
+ 167.80935824794915,
436
+ 84.24776811407563
437
+ ],
438
+ "type": "turn left",
439
+ "value": 30,
440
+ "yaw": -2.0943951023931953
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -1039.8817888446088,
448
+ 167.80935824794915,
449
+ 84.24776811407563
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": -1.5707963267948966
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -1039.8817888446088,
461
+ 164.80935824794915,
462
+ 84.24776811407563
463
+ ],
464
+ "type": "stop",
465
+ "value": 0,
466
+ "yaw": -1.5707963267948966
467
+ }
468
+ }
469
+ {
470
+ "aim_landmark": {
471
+ "color": "beige",
472
+ "feature": "twin towers",
473
+ "position": [
474
+ -1052.4792200000002,
475
+ 140.89326,
476
+ 6.2
477
+ ],
478
+ "shape": "rectangular",
479
+ "dir": "right",
480
+ "size": "high-rise",
481
+ "type": "building"
482
+ }
483
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_12-24-9_1280311131/pose.jsonl ADDED
@@ -0,0 +1,275 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1341.3249446534196,
6
+ 1694.6732108903057,
7
+ 90.86790294322086
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.0471975511966072
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1339.8249446534196,
19
+ 1697.271287101659,
20
+ 90.86790294322086
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.0471975511966072
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1338.3249446534196,
32
+ 1699.8693633130124,
33
+ 90.86790294322086
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.0471975511966072
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1336.8249446534196,
45
+ 1702.4674395243658,
46
+ 90.86790294322086
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.0471975511966072
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -1335.3249446534196,
58
+ 1705.0655157357191,
59
+ 90.86790294322086
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.0471975511966072
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -1333.8249446534196,
71
+ 1707.6635919470725,
72
+ 90.86790294322086
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.0471975511966072
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -1332.3249446534196,
84
+ 1710.261668158426,
85
+ 90.86790294322086
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.0471975511966072
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -1330.8249446534196,
97
+ 1712.8597443697793,
98
+ 90.86790294322086
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.0471975511966072
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -1329.3249446534196,
110
+ 1715.4578205811326,
111
+ 90.86790294322086
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.0471975511966072
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -1327.8249446534196,
123
+ 1718.055896792486,
124
+ 90.86790294322086
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.0471975511966072
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -1326.3249446534196,
136
+ 1720.6539730038394,
137
+ 90.86790294322086
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.0471975511966072
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -1324.8249446534196,
149
+ 1723.2520492151928,
150
+ 90.86790294322086
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.0471975511966072
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -1323.3249446534196,
162
+ 1725.8501254265461,
163
+ 90.86790294322086
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.0471975511966072
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -1321.8249446534196,
175
+ 1728.4482016378995,
176
+ 90.86790294322086
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.0471975511966072
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -1320.3249446534196,
188
+ 1731.0462778492529,
189
+ 90.86790294322086
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.0471975511966072
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -1318.8249446534196,
201
+ 1733.6443540606062,
202
+ 90.86790294322086
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.0471975511966072
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -1317.3249446534196,
214
+ 1736.2424302719596,
215
+ 90.86790294322086
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.0471975511966072
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -1315.8249446534196,
227
+ 1738.840506483313,
228
+ 90.86790294322086
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 1.0471975511966072
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -1314.3249446534196,
240
+ 1741.4385826946664,
241
+ 90.86790294322086
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 1.0471975511966072
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -1312.8249446534196,
253
+ 1744.0366589060197,
254
+ 90.86790294322086
255
+ ],
256
+ "type": "stop",
257
+ "value": 0,
258
+ "yaw": 1.0471975511966072
259
+ }
260
+ }
261
+ {
262
+ "aim_landmark": {
263
+ "color": "tan",
264
+ "feature": "classical architectural elements",
265
+ "position": [
266
+ -1268.84828,
267
+ 1809.80938,
268
+ 0.0
269
+ ],
270
+ "shape": "rectangular",
271
+ "dir": "center",
272
+ "size": "mid-rise",
273
+ "type": "building"
274
+ }
275
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_12-27-38_873199181/pose.jsonl ADDED
@@ -0,0 +1,67 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1474.2388472066832,
6
+ 364.96814384025026,
7
+ 85.00923136817389
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1475.7388472066832,
19
+ 362.37006762889695,
20
+ 85.00923136817389
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1477.2388472066832,
32
+ 359.77199141754363,
33
+ 85.00923136817389
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1478.7388472066832,
45
+ 357.1739152061903,
46
+ 85.00923136817389
47
+ ],
48
+ "type": "stop",
49
+ "value": 0,
50
+ "yaw": -1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "aim_landmark": {
55
+ "color": "white",
56
+ "feature": "glass windows",
57
+ "position": [
58
+ 1525.2321900000002,
59
+ 225.72580000000002,
60
+ 0.0
61
+ ],
62
+ "shape": "rectangular",
63
+ "dir": "center",
64
+ "size": "high-rise",
65
+ "type": "building"
66
+ }
67
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_12-3-22_2025554010/pose.jsonl ADDED
@@ -0,0 +1,54 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 997.5641113006691,
6
+ -453.4981384363143,
7
+ 79.73572614508434
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 999.0641113006691,
19
+ -456.09621464766764,
20
+ 79.73572614508434
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1000.5641113006691,
32
+ -458.69429085902095,
33
+ 79.73572614508434
34
+ ],
35
+ "type": "stop",
36
+ "value": 0,
37
+ "yaw": -1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "aim_landmark": {
42
+ "color": "dark",
43
+ "feature": "grid-like facade",
44
+ "position": [
45
+ 1047.93234,
46
+ -559.4651600000001,
47
+ 0.0
48
+ ],
49
+ "shape": "rectangular",
50
+ "dir": "center",
51
+ "size": "mid-rise",
52
+ "type": "building"
53
+ }
54
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_12-5-3_82173109/pose.jsonl ADDED
@@ -0,0 +1,93 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1903.2587627827772,
6
+ 1040.1386102357785,
7
+ 74.79694751166748
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 3.141592653589793
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1900.2587627827772,
19
+ 1040.1386102357785,
20
+ 74.79694751166748
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 3.141592653589793
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1897.2587627827772,
32
+ 1040.1386102357785,
33
+ 74.79694751166748
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 3.141592653589793
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1894.2587627827772,
45
+ 1040.1386102357785,
46
+ 74.79694751166748
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 3.141592653589793
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1891.2587627827772,
58
+ 1040.1386102357785,
59
+ 74.79694751166748
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 3.141592653589793
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1888.2587627827772,
71
+ 1040.1386102357785,
72
+ 74.79694751166748
73
+ ],
74
+ "type": "stop",
75
+ "value": 0,
76
+ "yaw": 3.141592653589793
77
+ }
78
+ }
79
+ {
80
+ "aim_landmark": {
81
+ "color": "tan",
82
+ "feature": "arched windows",
83
+ "position": [
84
+ 1765.40141,
85
+ 1024.33008,
86
+ 0.0
87
+ ],
88
+ "shape": "rectangular",
89
+ "dir": "center",
90
+ "size": "mid-rise",
91
+ "type": "building"
92
+ }
93
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_12-51-34_1813080154/pose.jsonl ADDED
@@ -0,0 +1,327 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1929.1150235049033,
6
+ 897.9559553195938,
7
+ 82.62370757909135
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.6179938779915037
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1926.51694729355,
19
+ 899.4559553195938,
20
+ 82.62370757909135
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.6179938779915037
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1923.9188710821966,
32
+ 900.9559553195938,
33
+ 82.62370757909135
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.6179938779915037
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1921.3207948708432,
45
+ 902.4559553195938,
46
+ 82.62370757909135
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.6179938779915037
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1918.7227186594898,
58
+ 903.9559553195938,
59
+ 82.62370757909135
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.6179938779915037
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1916.1246424481365,
71
+ 905.4559553195938,
72
+ 82.62370757909135
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.6179938779915037
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1913.526566236783,
84
+ 906.9559553195938,
85
+ 82.62370757909135
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.6179938779915037
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1910.9284900254297,
97
+ 908.4559553195938,
98
+ 82.62370757909135
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.6179938779915037
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1908.3304138140763,
110
+ 909.9559553195938,
111
+ 82.62370757909135
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.6179938779915037
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1905.732337602723,
123
+ 911.4559553195938,
124
+ 82.62370757909135
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.6179938779915037
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1903.1342613913696,
136
+ 912.9559553195938,
137
+ 82.62370757909135
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.6179938779915037
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1900.5361851800162,
149
+ 914.4559553195938,
150
+ 82.62370757909135
151
+ ],
152
+ "type": "turn left",
153
+ "value": 30,
154
+ "yaw": 2.6179938779915037
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1900.5361851800162,
162
+ 914.4559553195938,
163
+ 82.62370757909135
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 3.1415926535898024
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1897.5361851800162,
175
+ 914.4559553195938,
176
+ 82.62370757909135
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 3.141592653589793
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1894.5361851800162,
188
+ 914.4559553195938,
189
+ 82.62370757909135
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 3.141592653589793
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1891.5361851800162,
201
+ 914.4559553195938,
202
+ 82.62370757909135
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 3.141592653589793
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1888.5361851800162,
214
+ 914.4559553195938,
215
+ 82.62370757909135
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 3.141592653589793
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1885.5361851800162,
227
+ 914.4559553195938,
228
+ 82.62370757909135
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 3.141592653589793
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1882.5361851800162,
240
+ 914.4559553195938,
241
+ 82.62370757909135
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 3.141592653589793
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1879.5361851800162,
253
+ 914.4559553195938,
254
+ 82.62370757909135
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 3.141592653589793
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1876.5361851800162,
266
+ 914.4559553195938,
267
+ 82.62370757909135
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 3.141592653589793
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1873.5361851800162,
279
+ 914.4559553195938,
280
+ 82.62370757909135
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 3.141592653589793
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 1870.5361851800162,
292
+ 914.4559553195938,
293
+ 82.62370757909135
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 3.141592653589793
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 1867.5361851800162,
305
+ 914.4559553195938,
306
+ 82.62370757909135
307
+ ],
308
+ "type": "stop",
309
+ "value": 0,
310
+ "yaw": 3.141592653589793
311
+ }
312
+ }
313
+ {
314
+ "aim_landmark": {
315
+ "color": "beige",
316
+ "feature": "classical architectural elements",
317
+ "position": [
318
+ 1805.1359400000001,
319
+ 927.36062,
320
+ 0.0
321
+ ],
322
+ "shape": "rectangular",
323
+ "dir": "center",
324
+ "size": "mid-rise",
325
+ "type": "building"
326
+ }
327
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_12-59-18_617909211/pose.jsonl ADDED
@@ -0,0 +1,93 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1357.443422897147,
6
+ -341.15701689407405,
7
+ 79.83929317003609
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1357.443422897147,
19
+ -344.15701689407405,
20
+ 79.83929317003609
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1357.443422897147,
32
+ -347.15701689407405,
33
+ 79.83929317003609
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1357.443422897147,
45
+ -350.15701689407405,
46
+ 79.83929317003609
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1357.443422897147,
58
+ -353.15701689407405,
59
+ 79.83929317003609
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1357.443422897147,
71
+ -356.15701689407405,
72
+ 79.83929317003609
73
+ ],
74
+ "type": "stop",
75
+ "value": 0,
76
+ "yaw": -1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "aim_landmark": {
81
+ "color": "tan",
82
+ "feature": "classical architectural elements",
83
+ "position": [
84
+ 1347.52266,
85
+ -461.49762000000004,
86
+ 0.0
87
+ ],
88
+ "shape": "rectangular",
89
+ "dir": "center",
90
+ "size": "high-rise",
91
+ "type": "building"
92
+ }
93
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_12-6-37_454333378/pose.jsonl ADDED
@@ -0,0 +1,366 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1932.7330384898833,
6
+ 796.0337484694816,
7
+ 93.0098419893997
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.6179938779915037
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1930.1349622785299,
19
+ 794.5337484694816,
20
+ 93.0098419893997
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.6179938779915037
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1927.5368860671765,
32
+ 793.0337484694816,
33
+ 93.0098419893997
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.6179938779915037
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1924.9388098558231,
45
+ 791.5337484694816,
46
+ 93.0098419893997
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.6179938779915037
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1922.3407336444698,
58
+ 790.0337484694816,
59
+ 93.0098419893997
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.6179938779915037
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1919.7426574331164,
71
+ 788.5337484694816,
72
+ 93.0098419893997
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.6179938779915037
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1917.144581221763,
84
+ 787.0337484694816,
85
+ 93.0098419893997
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.6179938779915037
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1914.5465050104096,
97
+ 785.5337484694816,
98
+ 93.0098419893997
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.6179938779915037
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1911.9484287990563,
110
+ 784.0337484694816,
111
+ 93.0098419893997
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.6179938779915037
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1909.350352587703,
123
+ 782.5337484694816,
124
+ 93.0098419893997
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.6179938779915037
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1906.7522763763495,
136
+ 781.0337484694816,
137
+ 93.0098419893997
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.6179938779915037
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1904.1542001649962,
149
+ 779.5337484694816,
150
+ 93.0098419893997
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.6179938779915037
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1901.5561239536428,
162
+ 778.0337484694816,
163
+ 93.0098419893997
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.6179938779915037
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1898.9580477422894,
175
+ 776.5337484694816,
176
+ 93.0098419893997
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.6179938779915037
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1896.359971530936,
188
+ 775.0337484694816,
189
+ 93.0098419893997
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.6179938779915037
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1893.7618953195827,
201
+ 773.5337484694816,
202
+ 93.0098419893997
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.6179938779915037
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1891.1638191082293,
214
+ 772.0337484694816,
215
+ 93.0098419893997
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.6179938779915037
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1888.565742896876,
227
+ 770.5337484694816,
228
+ 93.0098419893997
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.6179938779915037
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1885.9676666855225,
240
+ 769.0337484694816,
241
+ 93.0098419893997
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.6179938779915037
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1883.3695904741692,
253
+ 767.5337484694816,
254
+ 93.0098419893997
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.6179938779915037
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1880.7715142628158,
266
+ 766.0337484694816,
267
+ 93.0098419893997
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.6179938779915037
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1878.1734380514624,
279
+ 764.5337484694816,
280
+ 93.0098419893997
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -2.6179938779915037
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 1875.575361840109,
292
+ 763.0337484694816,
293
+ 93.0098419893997
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -2.6179938779915037
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 1872.9772856287557,
305
+ 761.5337484694816,
306
+ 93.0098419893997
307
+ ],
308
+ "type": "turn left",
309
+ "value": 30,
310
+ "yaw": -2.6179938779915037
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 1872.9772856287557,
318
+ 761.5337484694816,
319
+ 93.0098419893997
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -2.094395102393205
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 1871.4772856287557,
331
+ 758.9356722581283,
332
+ 93.0098419893997
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -2.094395102393205
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 1869.9772856287557,
344
+ 756.3375960467749,
345
+ 93.0098419893997
346
+ ],
347
+ "type": "stop",
348
+ "value": 0,
349
+ "yaw": -2.094395102393205
350
+ }
351
+ }
352
+ {
353
+ "aim_landmark": {
354
+ "color": "tan",
355
+ "feature": "arched windows",
356
+ "position": [
357
+ 1813.43641,
358
+ 720.90031,
359
+ 0.0
360
+ ],
361
+ "shape": "rectangular",
362
+ "dir": "right",
363
+ "size": "mid-rise",
364
+ "type": "building"
365
+ }
366
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_13-12-22_1326247643/pose.jsonl ADDED
@@ -0,0 +1,158 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 500.90739156790954,
6
+ 1054.8906062027954,
7
+ 89.46802624776781
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.094395102393186
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 499.40739156790954,
19
+ 1052.292529991442,
20
+ 89.46802624776781
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.094395102393186
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 497.90739156790954,
32
+ 1049.6944537800887,
33
+ 89.46802624776781
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.094395102393186
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 496.40739156790954,
45
+ 1047.0963775687353,
46
+ 89.46802624776781
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.094395102393186
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 494.90739156790954,
58
+ 1044.498301357382,
59
+ 89.46802624776781
60
+ ],
61
+ "type": "turn left",
62
+ "value": 30,
63
+ "yaw": -2.094395102393186
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 494.90739156790954,
71
+ 1044.498301357382,
72
+ 89.46802624776781
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.5707963267948872
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 494.90739156790954,
84
+ 1041.498301357382,
85
+ 89.46802624776781
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 494.90739156790954,
97
+ 1038.498301357382,
98
+ 89.46802624776781
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 494.90739156790954,
110
+ 1035.498301357382,
111
+ 89.46802624776781
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 494.90739156790954,
123
+ 1032.498301357382,
124
+ 89.46802624776781
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 494.90739156790954,
136
+ 1029.498301357382,
137
+ 89.46802624776781
138
+ ],
139
+ "type": "stop",
140
+ "value": 0,
141
+ "yaw": -1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "aim_landmark": {
146
+ "color": "dark",
147
+ "feature": "grid-like facade",
148
+ "position": [
149
+ 460.85621,
150
+ 916.95406,
151
+ 0.0
152
+ ],
153
+ "shape": "rectangular",
154
+ "dir": "center",
155
+ "size": "mid-rise",
156
+ "type": "building"
157
+ }
158
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_13-13-50_610506582/pose.jsonl ADDED
@@ -0,0 +1,314 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -726.5890067415397,
6
+ 1180.8743392121628,
7
+ 95.4365009533857
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -0.5235987755983084
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -723.9909305301865,
19
+ 1179.3743392121628,
20
+ 95.4365009533857
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -0.5235987755983084
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -721.3928543188331,
32
+ 1177.8743392121628,
33
+ 95.4365009533857
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -0.5235987755982894
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -718.7947781074797,
45
+ 1176.3743392121628,
46
+ 95.4365009533857
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -0.5235987755982894
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -716.1967018961263,
58
+ 1174.8743392121628,
59
+ 95.4365009533857
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -0.5235987755982894
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -713.598625684773,
71
+ 1173.3743392121628,
72
+ 95.4365009533857
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -0.5235987755982894
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -711.0005494734196,
84
+ 1171.8743392121628,
85
+ 95.4365009533857
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -0.5235987755982894
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -708.4024732620662,
97
+ 1170.3743392121628,
98
+ 95.4365009533857
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -0.5235987755982894
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -705.8043970507129,
110
+ 1168.8743392121628,
111
+ 95.4365009533857
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -0.5235987755982894
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -703.2063208393595,
123
+ 1167.3743392121628,
124
+ 95.4365009533857
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -0.5235987755982894
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -700.6082446280061,
136
+ 1165.8743392121628,
137
+ 95.4365009533857
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -0.5235987755982894
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -698.0101684166527,
149
+ 1164.3743392121628,
150
+ 95.4365009533857
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -0.5235987755982894
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -695.4120922052994,
162
+ 1162.8743392121628,
163
+ 95.4365009533857
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -0.5235987755982894
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -692.814015993946,
175
+ 1161.3743392121628,
176
+ 95.4365009533857
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -0.5235987755982894
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -690.2159397825926,
188
+ 1159.8743392121628,
189
+ 95.4365009533857
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -0.5235987755982894
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -687.6178635712392,
201
+ 1158.3743392121628,
202
+ 95.4365009533857
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -0.5235987755982894
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -685.0197873598859,
214
+ 1156.8743392121628,
215
+ 95.4365009533857
216
+ ],
217
+ "type": "turn right",
218
+ "value": 30,
219
+ "yaw": -0.5235987755982894
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -685.0197873598859,
227
+ 1156.8743392121628,
228
+ 95.4365009533857
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.047197551196588
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -683.5197873598859,
240
+ 1154.2762630008094,
241
+ 95.4365009533857
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.0471975511966072
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -682.0197873598859,
253
+ 1151.678186789456,
254
+ 95.4365009533857
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.0471975511966072
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -680.5197873598859,
266
+ 1149.0801105781027,
267
+ 95.4365009533857
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.0471975511966072
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -679.0197873598859,
279
+ 1146.4820343667493,
280
+ 95.4365009533857
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.0471975511966072
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -677.5197873598859,
292
+ 1143.883958155396,
293
+ 95.4365009533857
294
+ ],
295
+ "type": "stop",
296
+ "value": 0,
297
+ "yaw": -1.0471975511966072
298
+ }
299
+ }
300
+ {
301
+ "aim_landmark": {
302
+ "color": "white",
303
+ "feature": "many windows",
304
+ "position": [
305
+ -605.96148,
306
+ 1093.97242,
307
+ 0.0
308
+ ],
309
+ "shape": "square",
310
+ "dir": "center",
311
+ "size": "high-rise",
312
+ "type": "building"
313
+ }
314
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_13-14-56_1889804310/pose.jsonl ADDED
@@ -0,0 +1,132 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1224.4398507094345,
6
+ 1163.1371912882096,
7
+ 98.398102049177
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.0471975511966072
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1222.9398507094345,
19
+ 1165.735267499563,
20
+ 98.398102049177
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.0471975511966072
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1221.4398507094345,
32
+ 1168.3333437109163,
33
+ 98.398102049177
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.0471975511966072
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1219.9398507094345,
45
+ 1170.9314199222697,
46
+ 98.398102049177
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.0471975511966072
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -1218.4398507094345,
58
+ 1173.529496133623,
59
+ 98.398102049177
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.0471975511966072
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -1216.9398507094345,
71
+ 1176.1275723449764,
72
+ 98.398102049177
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.0471975511966072
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -1215.4398507094345,
84
+ 1178.7256485563298,
85
+ 98.398102049177
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.0471975511966072
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -1213.9398507094345,
97
+ 1181.3237247676832,
98
+ 98.398102049177
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.0471975511966072
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -1212.4398507094345,
110
+ 1183.9218009790366,
111
+ 98.398102049177
112
+ ],
113
+ "type": "stop",
114
+ "value": 0,
115
+ "yaw": 1.0471975511966072
116
+ }
117
+ }
118
+ {
119
+ "aim_landmark": {
120
+ "color": "tan",
121
+ "feature": "arched windows",
122
+ "position": [
123
+ -1171.1045299999998,
124
+ 1257.19984,
125
+ 0.0
126
+ ],
127
+ "shape": "rectangular",
128
+ "dir": "center",
129
+ "size": "mid-rise",
130
+ "type": "building"
131
+ }
132
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_13-15-19_370917955/pose.jsonl ADDED
@@ -0,0 +1,197 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -960.7374101190547,
6
+ 1899.921003442711,
7
+ 98.42243834699839
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.617993877991485
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -963.335486330408,
19
+ 1898.421003442711,
20
+ 98.42243834699839
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.617993877991485
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -965.9335625417614,
32
+ 1896.921003442711,
33
+ 98.42243834699839
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.6179938779915037
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -968.5316387531147,
45
+ 1895.421003442711,
46
+ 98.42243834699839
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.6179938779915037
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -971.1297149644681,
58
+ 1893.921003442711,
59
+ 98.42243834699839
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.6179938779915037
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -973.7277911758215,
71
+ 1892.421003442711,
72
+ 98.42243834699839
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.6179938779915037
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -976.3258673871749,
84
+ 1890.921003442711,
85
+ 98.42243834699839
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.6179938779915037
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -978.9239435985282,
97
+ 1889.421003442711,
98
+ 98.42243834699839
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.6179938779915037
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -981.5220198098816,
110
+ 1887.921003442711,
111
+ 98.42243834699839
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.6179938779915037
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -984.120096021235,
123
+ 1886.421003442711,
124
+ 98.42243834699839
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.6179938779915037
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -986.7181722325884,
136
+ 1884.921003442711,
137
+ 98.42243834699839
138
+ ],
139
+ "type": "turn right",
140
+ "value": 30,
141
+ "yaw": -2.6179938779915037
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -986.7181722325884,
149
+ 1884.921003442711,
150
+ 98.42243834699839
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -3.1415926535898024
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -989.7181722325884,
162
+ 1884.921003442711,
163
+ 98.42243834699839
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 3.141592653589793
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -992.7181722325884,
175
+ 1884.921003442711,
176
+ 98.42243834699839
177
+ ],
178
+ "type": "stop",
179
+ "value": 0,
180
+ "yaw": 3.141592653589793
181
+ }
182
+ }
183
+ {
184
+ "aim_landmark": {
185
+ "color": "tan",
186
+ "feature": "ornate facade",
187
+ "position": [
188
+ -1067.05008,
189
+ 1853.93875,
190
+ 0.0
191
+ ],
192
+ "shape": "rectangular",
193
+ "dir": "center",
194
+ "size": "mid-rise",
195
+ "type": "building"
196
+ }
197
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_13-17-56_216220853/pose.jsonl ADDED
@@ -0,0 +1,67 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1317.73937809842,
6
+ 1571.688786008878,
7
+ 87.31475124576818
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1320.73937809842,
19
+ 1571.688786008878,
20
+ 87.31475124576818
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1323.73937809842,
32
+ 1571.688786008878,
33
+ 87.31475124576818
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1326.73937809842,
45
+ 1571.688786008878,
46
+ 87.31475124576818
47
+ ],
48
+ "type": "stop",
49
+ "value": 0,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "aim_landmark": {
55
+ "color": "white",
56
+ "feature": "grid of windows",
57
+ "position": [
58
+ 1424.3810899999999,
59
+ 1574.98859,
60
+ 0.0
61
+ ],
62
+ "shape": "rectangular",
63
+ "dir": "center",
64
+ "size": "mid-rise",
65
+ "type": "building"
66
+ }
67
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_13-22-35_787689126/pose.jsonl ADDED
@@ -0,0 +1,522 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1536.6111259094328,
6
+ 549.3784361176209,
7
+ 83.99272808981367
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965883
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1535.1111259094328,
19
+ 546.7803599062677,
20
+ 83.99272808981367
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965883
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1533.6111259094328,
32
+ 544.1822836949143,
33
+ 83.99272808981367
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511966072
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1532.1111259094328,
45
+ 541.5842074835609,
46
+ 83.99272808981367
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511966072
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -1530.6111259094328,
58
+ 538.9861312722076,
59
+ 83.99272808981367
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511966072
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -1529.1111259094328,
71
+ 536.3880550608542,
72
+ 83.99272808981367
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511966072
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -1527.6111259094328,
84
+ 533.7899788495008,
85
+ 83.99272808981367
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511966072
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -1526.1111259094328,
97
+ 531.1919026381474,
98
+ 83.99272808981367
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511966072
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -1524.6111259094328,
110
+ 528.5938264267941,
111
+ 83.99272808981367
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511966072
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -1523.1111259094328,
123
+ 525.9957502154407,
124
+ 83.99272808981367
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511966072
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -1521.6111259094328,
136
+ 523.3976740040873,
137
+ 83.99272808981367
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511966072
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -1520.1111259094328,
149
+ 520.799597792734,
150
+ 83.99272808981367
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511966072
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -1518.6111259094328,
162
+ 518.2015215813806,
163
+ 83.99272808981367
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.0471975511966072
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -1517.1111259094328,
175
+ 515.6034453700272,
176
+ 83.99272808981367
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.0471975511966072
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -1515.6111259094328,
188
+ 513.0053691586738,
189
+ 83.99272808981367
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.0471975511966072
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -1514.1111259094328,
201
+ 510.4072929473205,
202
+ 83.99272808981367
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -1512.6111259094328,
214
+ 507.8092167359672,
215
+ 83.99272808981367
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -1511.1111259094328,
227
+ 505.2111405246139,
228
+ 83.99272808981367
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -1509.6111259094328,
240
+ 502.61306431326057,
241
+ 83.99272808981367
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.0471975511965979
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -1508.1111259094328,
253
+ 500.01498810190725,
254
+ 83.99272808981367
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.0471975511965979
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -1506.6111259094328,
266
+ 497.41691189055393,
267
+ 83.99272808981367
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.0471975511965979
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -1505.1111259094328,
279
+ 494.8188356792006,
280
+ 83.99272808981367
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.0471975511965979
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -1503.6111259094328,
292
+ 492.2207594678473,
293
+ 83.99272808981367
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.0471975511965979
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -1502.1111259094328,
305
+ 489.622683256494,
306
+ 83.99272808981367
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -1.0471975511965979
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -1500.6111259094328,
318
+ 487.02460704514067,
319
+ 83.99272808981367
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -1.0471975511965979
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -1499.1111259094328,
331
+ 484.42653083378735,
332
+ 83.99272808981367
333
+ ],
334
+ "type": "turn left",
335
+ "value": 30,
336
+ "yaw": -1.0471975511965979
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -1499.1111259094328,
344
+ 484.42653083378735,
345
+ 83.99272808981367
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -0.523598775598299
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -1496.5130496980794,
357
+ 482.92653083378735,
358
+ 83.99272808981367
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": -0.5235987755982894
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -1493.914973486726,
370
+ 481.42653083378735,
371
+ 83.99272808981367
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": -0.5235987755982894
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -1491.3168972753726,
383
+ 479.92653083378735,
384
+ 83.99272808981367
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": -0.5235987755982894
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ -1488.7188210640193,
396
+ 478.42653083378735,
397
+ 83.99272808981367
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": -0.5235987755982894
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ -1486.120744852666,
409
+ 476.92653083378735,
410
+ 83.99272808981367
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": -0.5235987755982894
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ -1483.5226686413125,
422
+ 475.42653083378735,
423
+ 83.99272808981367
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": -0.5235987755982894
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ -1480.9245924299591,
435
+ 473.92653083378735,
436
+ 83.99272808981367
437
+ ],
438
+ "type": "go straight",
439
+ "value": 3,
440
+ "yaw": -0.5235987755982894
441
+ }
442
+ }
443
+ {
444
+ "action": {
445
+ "imageid": 34,
446
+ "pos": [
447
+ -1478.3265162186058,
448
+ 472.42653083378735,
449
+ 83.99272808981367
450
+ ],
451
+ "type": "go straight",
452
+ "value": 3,
453
+ "yaw": -0.5235987755982894
454
+ }
455
+ }
456
+ {
457
+ "action": {
458
+ "imageid": 35,
459
+ "pos": [
460
+ -1475.7284400072524,
461
+ 470.92653083378735,
462
+ 83.99272808981367
463
+ ],
464
+ "type": "go straight",
465
+ "value": 3,
466
+ "yaw": -0.5235987755982894
467
+ }
468
+ }
469
+ {
470
+ "action": {
471
+ "imageid": 36,
472
+ "pos": [
473
+ -1473.130363795899,
474
+ 469.42653083378735,
475
+ 83.99272808981367
476
+ ],
477
+ "type": "go straight",
478
+ "value": 3,
479
+ "yaw": -0.5235987755982894
480
+ }
481
+ }
482
+ {
483
+ "action": {
484
+ "imageid": 37,
485
+ "pos": [
486
+ -1470.5322875845457,
487
+ 467.92653083378735,
488
+ 83.99272808981367
489
+ ],
490
+ "type": "go straight",
491
+ "value": 3,
492
+ "yaw": -0.5235987755982894
493
+ }
494
+ }
495
+ {
496
+ "action": {
497
+ "imageid": 38,
498
+ "pos": [
499
+ -1467.9342113731923,
500
+ 466.42653083378735,
501
+ 83.99272808981367
502
+ ],
503
+ "type": "stop",
504
+ "value": 0,
505
+ "yaw": -0.5235987755982894
506
+ }
507
+ }
508
+ {
509
+ "aim_landmark": {
510
+ "color": "white and black",
511
+ "feature": "striped facade",
512
+ "position": [
513
+ -1451.6540599999998,
514
+ 445.26358999999997,
515
+ 0.0
516
+ ],
517
+ "shape": "rectangular",
518
+ "dir": "center",
519
+ "size": "mid-rise",
520
+ "type": "building"
521
+ }
522
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_13-26-52_1936060910/pose.jsonl ADDED
@@ -0,0 +1,457 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1132.5999509159776,
6
+ -884.8299276951384,
7
+ 87.36357211654251
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1132.5999509159776,
19
+ -881.8299276951384,
20
+ 87.36357211654251
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1132.5999509159776,
32
+ -878.8299276951384,
33
+ 87.36357211654251
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1132.5999509159776,
45
+ -875.8299276951384,
46
+ 87.36357211654251
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1132.5999509159776,
58
+ -872.8299276951384,
59
+ 87.36357211654251
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1132.5999509159776,
71
+ -869.8299276951384,
72
+ 87.36357211654251
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1132.5999509159776,
84
+ -866.8299276951384,
85
+ 87.36357211654251
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1132.5999509159776,
97
+ -863.8299276951384,
98
+ 87.36357211654251
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1132.5999509159776,
110
+ -860.8299276951384,
111
+ 87.36357211654251
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1132.5999509159776,
123
+ -857.8299276951384,
124
+ 87.36357211654251
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1132.5999509159776,
136
+ -854.8299276951384,
137
+ 87.36357211654251
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1132.5999509159776,
149
+ -851.8299276951384,
150
+ 87.36357211654251
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1132.5999509159776,
162
+ -848.8299276951384,
163
+ 87.36357211654251
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1132.5999509159776,
175
+ -845.8299276951384,
176
+ 87.36357211654251
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1132.5999509159776,
188
+ -842.8299276951384,
189
+ 87.36357211654251
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1132.5999509159776,
201
+ -839.8299276951384,
202
+ 87.36357211654251
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1132.5999509159776,
214
+ -836.8299276951384,
215
+ 87.36357211654251
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1132.5999509159776,
227
+ -833.8299276951384,
228
+ 87.36357211654251
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1132.5999509159776,
240
+ -830.8299276951384,
241
+ 87.36357211654251
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1132.5999509159776,
253
+ -827.8299276951384,
254
+ 87.36357211654251
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1132.5999509159776,
266
+ -824.8299276951384,
267
+ 87.36357211654251
268
+ ],
269
+ "type": "turn left",
270
+ "value": 30,
271
+ "yaw": 1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1132.5999509159776,
279
+ -824.8299276951384,
280
+ 87.36357211654251
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 2.0943951023931953
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 1131.0999509159776,
292
+ -822.231851483785,
293
+ 87.36357211654251
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 2.094395102393186
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 1129.5999509159776,
305
+ -819.6337752724316,
306
+ 87.36357211654251
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 2.094395102393186
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 1128.0999509159776,
318
+ -817.0356990610783,
319
+ 87.36357211654251
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 2.094395102393186
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 1126.5999509159776,
331
+ -814.4376228497249,
332
+ 87.36357211654251
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 2.094395102393186
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 1125.0999509159776,
344
+ -811.8395466383715,
345
+ 87.36357211654251
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 2.094395102393186
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ 1123.5999509159776,
357
+ -809.2414704270182,
358
+ 87.36357211654251
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": 2.094395102393186
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ 1122.0999509159776,
370
+ -806.6433942156648,
371
+ 87.36357211654251
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": 2.094395102393186
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ 1120.5999509159776,
383
+ -804.0453180043114,
384
+ 87.36357211654251
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": 2.094395102393186
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ 1119.0999509159776,
396
+ -801.447241792958,
397
+ 87.36357211654251
398
+ ],
399
+ "type": "go straight",
400
+ "value": 3,
401
+ "yaw": 2.094395102393186
402
+ }
403
+ }
404
+ {
405
+ "action": {
406
+ "imageid": 31,
407
+ "pos": [
408
+ 1117.5999509159776,
409
+ -798.8491655816047,
410
+ 87.36357211654251
411
+ ],
412
+ "type": "go straight",
413
+ "value": 3,
414
+ "yaw": 2.094395102393186
415
+ }
416
+ }
417
+ {
418
+ "action": {
419
+ "imageid": 32,
420
+ "pos": [
421
+ 1116.0999509159776,
422
+ -796.2510893702513,
423
+ 87.36357211654251
424
+ ],
425
+ "type": "go straight",
426
+ "value": 3,
427
+ "yaw": 2.094395102393186
428
+ }
429
+ }
430
+ {
431
+ "action": {
432
+ "imageid": 33,
433
+ "pos": [
434
+ 1114.5999509159776,
435
+ -793.6530131588979,
436
+ 87.36357211654251
437
+ ],
438
+ "type": "stop",
439
+ "value": 0,
440
+ "yaw": 2.094395102393186
441
+ }
442
+ }
443
+ {
444
+ "aim_landmark": {
445
+ "color": "dark",
446
+ "feature": "grid-like facade",
447
+ "position": [
448
+ 1100.9457,
449
+ -744.80789,
450
+ 0.0
451
+ ],
452
+ "shape": "rectangular",
453
+ "dir": "center",
454
+ "size": "mid-rise",
455
+ "type": "building"
456
+ }
457
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_13-4-47_2010794583/pose.jsonl ADDED
@@ -0,0 +1,67 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -1097.137371694955,
6
+ -22.81338638066714,
7
+ 80.40924512909821
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -1098.637371694955,
19
+ -25.411462592020456,
20
+ 80.40924512909821
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -1100.137371694955,
32
+ -28.009538803373772,
33
+ 80.40924512909821
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -1101.637371694955,
45
+ -30.607615014727088,
46
+ 80.40924512909821
47
+ ],
48
+ "type": "stop",
49
+ "value": 0,
50
+ "yaw": -2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "aim_landmark": {
55
+ "color": "white",
56
+ "feature": "tall with many windows",
57
+ "position": [
58
+ -1158.48648,
59
+ -125.60129,
60
+ 0.0
61
+ ],
62
+ "shape": "rectangular",
63
+ "dir": "center",
64
+ "size": "high-rise",
65
+ "type": "building"
66
+ }
67
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_13-42-25_413360099/pose.jsonl ADDED
@@ -0,0 +1,158 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 781.2662981034423,
6
+ 1366.3733700951109,
7
+ 77.54779811415935
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 781.2662981034423,
19
+ 1369.3733700951109,
20
+ 77.54779811415935
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 781.2662981034423,
32
+ 1372.3733700951109,
33
+ 77.54779811415935
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 781.2662981034423,
45
+ 1375.3733700951109,
46
+ 77.54779811415935
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 781.2662981034423,
58
+ 1378.3733700951109,
59
+ 77.54779811415935
60
+ ],
61
+ "type": "turn left",
62
+ "value": 30,
63
+ "yaw": 1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 781.2662981034423,
71
+ 1378.3733700951109,
72
+ 77.54779811415935
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 779.7662981034423,
84
+ 1380.9714463064643,
85
+ 77.54779811415935
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.094395102393186
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 778.2662981034423,
97
+ 1383.5695225178176,
98
+ 77.54779811415935
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.094395102393186
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 776.7662981034423,
110
+ 1386.167598729171,
111
+ 77.54779811415935
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.094395102393186
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 775.2662981034423,
123
+ 1388.7656749405244,
124
+ 77.54779811415935
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.094395102393186
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 773.7662981034423,
136
+ 1391.3637511518778,
137
+ 77.54779811415935
138
+ ],
139
+ "type": "stop",
140
+ "value": 0,
141
+ "yaw": 2.094395102393186
142
+ }
143
+ }
144
+ {
145
+ "aim_landmark": {
146
+ "color": "tan",
147
+ "feature": "ornate detailing",
148
+ "position": [
149
+ 750.71961,
150
+ 1491.15594,
151
+ 0.0
152
+ ],
153
+ "shape": "rectangular",
154
+ "dir": "center",
155
+ "size": "mid-rise",
156
+ "type": "building"
157
+ }
158
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_13-42-54_1844400657/pose.jsonl ADDED
@@ -0,0 +1,353 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1922.2478676105543,
6
+ 669.0813130046091,
7
+ 92.02078379667614
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.094395102393205
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1920.7478676105543,
19
+ 666.4832367932559,
20
+ 92.02078379667614
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.094395102393205
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1919.2478676105543,
32
+ 663.8851605819025,
33
+ 92.02078379667614
34
+ ],
35
+ "type": "turn right",
36
+ "value": 30,
37
+ "yaw": -2.094395102393186
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1919.2478676105543,
45
+ 663.8851605819025,
46
+ 92.02078379667614
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.6179938779914846
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1916.649791399201,
58
+ 662.3851605819025,
59
+ 92.02078379667614
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.6179938779915037
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1914.0517151878475,
71
+ 660.8851605819025,
72
+ 92.02078379667614
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.6179938779915037
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1911.4536389764942,
84
+ 659.3851605819025,
85
+ 92.02078379667614
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.6179938779915037
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1908.8555627651408,
97
+ 657.8851605819025,
98
+ 92.02078379667614
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.6179938779915037
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1906.2574865537874,
110
+ 656.3851605819025,
111
+ 92.02078379667614
112
+ ],
113
+ "type": "turn right",
114
+ "value": 30,
115
+ "yaw": -2.6179938779915037
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1906.2574865537874,
123
+ 656.3851605819025,
124
+ 92.02078379667614
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -3.1415926535898024
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1903.2574865537874,
136
+ 656.3851605819025,
137
+ 92.02078379667614
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 3.141592653589793
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1900.2574865537874,
149
+ 656.3851605819025,
150
+ 92.02078379667614
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 3.141592653589793
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1897.2574865537874,
162
+ 656.3851605819025,
163
+ 92.02078379667614
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 3.141592653589793
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1894.2574865537874,
175
+ 656.3851605819025,
176
+ 92.02078379667614
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 3.141592653589793
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1891.2574865537874,
188
+ 656.3851605819025,
189
+ 92.02078379667614
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 3.141592653589793
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1888.2574865537874,
201
+ 656.3851605819025,
202
+ 92.02078379667614
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 3.141592653589793
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1885.2574865537874,
214
+ 656.3851605819025,
215
+ 92.02078379667614
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 3.141592653589793
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1882.2574865537874,
227
+ 656.3851605819025,
228
+ 92.02078379667614
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 3.141592653589793
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1879.2574865537874,
240
+ 656.3851605819025,
241
+ 92.02078379667614
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 3.141592653589793
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1876.2574865537874,
253
+ 656.3851605819025,
254
+ 92.02078379667614
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 3.141592653589793
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1873.2574865537874,
266
+ 656.3851605819025,
267
+ 92.02078379667614
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 3.141592653589793
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1870.2574865537874,
279
+ 656.3851605819025,
280
+ 92.02078379667614
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 3.141592653589793
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 1867.2574865537874,
292
+ 656.3851605819025,
293
+ 92.02078379667614
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 3.141592653589793
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 1864.2574865537874,
305
+ 656.3851605819025,
306
+ 92.02078379667614
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 3.141592653589793
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 1861.2574865537874,
318
+ 656.3851605819025,
319
+ 92.02078379667614
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 3.141592653589793
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 1858.2574865537874,
331
+ 656.3851605819025,
332
+ 92.02078379667614
333
+ ],
334
+ "type": "stop",
335
+ "value": 0,
336
+ "yaw": 3.141592653589793
337
+ }
338
+ }
339
+ {
340
+ "aim_landmark": {
341
+ "color": "dark",
342
+ "feature": "glass windows",
343
+ "position": [
344
+ 1777.2865599999998,
345
+ 641.12391,
346
+ 0.0
347
+ ],
348
+ "shape": "cuboid",
349
+ "dir": "center",
350
+ "size": "mid-rise",
351
+ "type": "building"
352
+ }
353
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_13-8-19_500037525/pose.jsonl ADDED
@@ -0,0 +1,184 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1453.8790098435095,
6
+ 1346.7979510127088,
7
+ 97.45227924946799
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.6179938779915037
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1451.2809336321561,
19
+ 1348.2979510127088,
20
+ 97.45227924946799
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.6179938779915037
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1448.6828574208027,
32
+ 1349.7979510127088,
33
+ 97.45227924946799
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.6179938779915037
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1446.0847812094494,
45
+ 1351.2979510127088,
46
+ 97.45227924946799
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.6179938779915037
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1443.486704998096,
58
+ 1352.7979510127088,
59
+ 97.45227924946799
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.6179938779915037
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1440.8886287867426,
71
+ 1354.2979510127088,
72
+ 97.45227924946799
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.6179938779915037
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1438.2905525753893,
84
+ 1355.7979510127088,
85
+ 97.45227924946799
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.6179938779915037
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1435.6924763640359,
97
+ 1357.2979510127088,
98
+ 97.45227924946799
99
+ ],
100
+ "type": "turn right",
101
+ "value": 30,
102
+ "yaw": 2.6179938779915037
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1435.6924763640359,
110
+ 1357.2979510127088,
111
+ 97.45227924946799
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.094395102393205
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1434.1924763640359,
123
+ 1359.8960272240622,
124
+ 97.45227924946799
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.094395102393186
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1432.6924763640359,
136
+ 1362.4941034354156,
137
+ 97.45227924946799
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.094395102393186
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1431.1924763640359,
149
+ 1365.092179646769,
150
+ 97.45227924946799
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.094395102393186
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1429.6924763640359,
162
+ 1367.6902558581223,
163
+ 97.45227924946799
164
+ ],
165
+ "type": "stop",
166
+ "value": 0,
167
+ "yaw": 2.094395102393186
168
+ }
169
+ }
170
+ {
171
+ "aim_landmark": {
172
+ "color": "white",
173
+ "feature": "tapered top",
174
+ "position": [
175
+ 1374.58406,
176
+ 1419.46734,
177
+ 0.0
178
+ ],
179
+ "shape": "rectangular",
180
+ "dir": "center",
181
+ "size": "high-rise",
182
+ "type": "building"
183
+ }
184
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_14-21-50_2118801173/pose.jsonl ADDED
@@ -0,0 +1,418 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 1145.975429221241,
6
+ -868.0358505184801,
7
+ 80.8595796534614
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.094395102393205
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 1144.475429221241,
19
+ -865.4377743071268,
20
+ 80.8595796534614
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.094395102393205
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 1142.975429221241,
32
+ -862.8396980957734,
33
+ 80.8595796534614
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.094395102393186
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 1141.475429221241,
45
+ -860.24162188442,
46
+ 80.8595796534614
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.094395102393186
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 1139.975429221241,
58
+ -857.6435456730667,
59
+ 80.8595796534614
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.094395102393186
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 1138.475429221241,
71
+ -855.0454694617133,
72
+ 80.8595796534614
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.094395102393186
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 1136.975429221241,
84
+ -852.4473932503599,
85
+ 80.8595796534614
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.094395102393186
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 1135.475429221241,
97
+ -849.8493170390066,
98
+ 80.8595796534614
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.094395102393186
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 1133.975429221241,
110
+ -847.2512408276532,
111
+ 80.8595796534614
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.094395102393186
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 1132.475429221241,
123
+ -844.6531646162998,
124
+ 80.8595796534614
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.094395102393186
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 1130.975429221241,
136
+ -842.0550884049464,
137
+ 80.8595796534614
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.094395102393186
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 1129.475429221241,
149
+ -839.4570121935931,
150
+ 80.8595796534614
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.094395102393186
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 1127.975429221241,
162
+ -836.8589359822397,
163
+ 80.8595796534614
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.094395102393186
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 1126.475429221241,
175
+ -834.2608597708863,
176
+ 80.8595796534614
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.094395102393186
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 1124.975429221241,
188
+ -831.662783559533,
189
+ 80.8595796534614
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.094395102393186
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 1123.475429221241,
201
+ -829.0647073481796,
202
+ 80.8595796534614
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.094395102393186
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 1121.975429221241,
214
+ -826.4666311368262,
215
+ 80.8595796534614
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 2.094395102393186
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 1120.475429221241,
227
+ -823.8685549254728,
228
+ 80.8595796534614
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.094395102393186
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 1118.975429221241,
240
+ -821.2704787141195,
241
+ 80.8595796534614
242
+ ],
243
+ "type": "turn right",
244
+ "value": 30,
245
+ "yaw": 2.094395102393186
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 1118.975429221241,
253
+ -821.2704787141195,
254
+ 80.8595796534614
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 1.5707963267948872
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 1118.975429221241,
266
+ -818.2704787141195,
267
+ 80.8595796534614
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 1118.975429221241,
279
+ -815.2704787141195,
280
+ 80.8595796534614
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 1118.975429221241,
292
+ -812.2704787141195,
293
+ 80.8595796534614
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 1118.975429221241,
305
+ -809.2704787141195,
306
+ 80.8595796534614
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 1118.975429221241,
318
+ -806.2704787141195,
319
+ 80.8595796534614
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 1.5707963267948966
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 1118.975429221241,
331
+ -803.2704787141195,
332
+ 80.8595796534614
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 1.5707963267948966
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 1118.975429221241,
344
+ -800.2704787141195,
345
+ 80.8595796534614
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 1.5707963267948966
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ 1118.975429221241,
357
+ -797.2704787141195,
358
+ 80.8595796534614
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": 1.5707963267948966
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ 1118.975429221241,
370
+ -794.2704787141195,
371
+ 80.8595796534614
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": 1.5707963267948966
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ 1118.975429221241,
383
+ -791.2704787141195,
384
+ 80.8595796534614
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": 1.5707963267948966
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ 1118.975429221241,
396
+ -788.2704787141195,
397
+ 80.8595796534614
398
+ ],
399
+ "type": "stop",
400
+ "value": 0,
401
+ "yaw": 1.5707963267948966
402
+ }
403
+ }
404
+ {
405
+ "aim_landmark": {
406
+ "color": "dark",
407
+ "feature": "grid-like facade",
408
+ "position": [
409
+ 1100.9457,
410
+ -744.80789,
411
+ 0.0
412
+ ],
413
+ "shape": "rectangular",
414
+ "dir": "center",
415
+ "size": "mid-rise",
416
+ "type": "building"
417
+ }
418
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_14-28-21_1688323172/pose.jsonl ADDED
@@ -0,0 +1,54 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 757.1873206543064,
6
+ 1226.7464548799705,
7
+ 76.11655954885279
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 760.1873206543064,
19
+ 1226.7464548799705,
20
+ 76.11655954885279
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 763.1873206543064,
32
+ 1226.7464548799705,
33
+ 76.11655954885279
34
+ ],
35
+ "type": "stop",
36
+ "value": 0,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "aim_landmark": {
42
+ "color": "tan",
43
+ "feature": "ornate facade",
44
+ "position": [
45
+ 862.1961699999999,
46
+ 1221.31273,
47
+ 0.0
48
+ ],
49
+ "shape": "rectangular",
50
+ "dir": "center",
51
+ "size": "mid-rise",
52
+ "type": "building"
53
+ }
54
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_14-29-3_301373537/pose.jsonl ADDED
@@ -0,0 +1,405 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -392.4116406413998,
6
+ 1193.297996275786,
7
+ 91.00594068747009
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.6179938779914944
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -395.0097168527531,
19
+ 1194.797996275786,
20
+ 91.00594068747009
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.6179938779914944
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -397.60779306410643,
32
+ 1196.297996275786,
33
+ 91.00594068747009
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.6179938779914944
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -400.20586927545975,
45
+ 1197.797996275786,
46
+ 91.00594068747009
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.6179938779914944
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -402.80394548681306,
58
+ 1199.297996275786,
59
+ 91.00594068747009
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.6179938779914944
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -405.4020216981664,
71
+ 1200.797996275786,
72
+ 91.00594068747009
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.6179938779914944
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -408.0000979095197,
84
+ 1202.297996275786,
85
+ 91.00594068747009
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.6179938779914944
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -410.598174120873,
97
+ 1203.797996275786,
98
+ 91.00594068747009
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.6179938779914944
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -413.1962503322263,
110
+ 1205.297996275786,
111
+ 91.00594068747009
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.6179938779914944
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -415.79432654357964,
123
+ 1206.797996275786,
124
+ 91.00594068747009
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.6179938779914944
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -418.39240275493296,
136
+ 1208.297996275786,
137
+ 91.00594068747009
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.6179938779914944
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -420.9904789662863,
149
+ 1209.797996275786,
150
+ 91.00594068747009
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.6179938779914944
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -423.5885551776396,
162
+ 1211.297996275786,
163
+ 91.00594068747009
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.6179938779914944
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -426.1866313889929,
175
+ 1212.797996275786,
176
+ 91.00594068747009
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.6179938779914944
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -428.7847076003462,
188
+ 1214.297996275786,
189
+ 91.00594068747009
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.6179938779914944
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -431.38278381169954,
201
+ 1215.797996275786,
202
+ 91.00594068747009
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.6179938779914944
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -433.98086002305286,
214
+ 1217.297996275786,
215
+ 91.00594068747009
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 2.6179938779914944
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -436.57893623440617,
227
+ 1218.797996275786,
228
+ 91.00594068747009
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.6179938779914944
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -439.1770124457595,
240
+ 1220.297996275786,
241
+ 91.00594068747009
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.6179938779914944
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -441.7750886571128,
253
+ 1221.797996275786,
254
+ 91.00594068747009
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 2.6179938779914944
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -444.3731648684661,
266
+ 1223.297996275786,
267
+ 91.00594068747009
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 2.6179938779914944
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -446.97124107981944,
279
+ 1224.797996275786,
280
+ 91.00594068747009
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 2.6179938779914944
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -449.56931729117275,
292
+ 1226.297996275786,
293
+ 91.00594068747009
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 2.6179938779914944
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -452.16739350252607,
305
+ 1227.797996275786,
306
+ 91.00594068747009
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 2.6179938779914944
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -454.7654697138794,
318
+ 1229.297996275786,
319
+ 91.00594068747009
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 2.6179938779914944
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -457.3635459252327,
331
+ 1230.797996275786,
332
+ 91.00594068747009
333
+ ],
334
+ "type": "turn left",
335
+ "value": 30,
336
+ "yaw": 2.6179938779914944
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -457.3635459252327,
344
+ 1230.797996275786,
345
+ 91.00594068747009
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 3.141592653589793
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -460.3635459252327,
357
+ 1230.797996275786,
358
+ 91.00594068747009
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": 3.141592653589793
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ -463.3635459252327,
370
+ 1230.797996275786,
371
+ 91.00594068747009
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": 3.141592653589793
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ -466.3635459252327,
383
+ 1230.797996275786,
384
+ 91.00594068747009
385
+ ],
386
+ "type": "stop",
387
+ "value": 0,
388
+ "yaw": 3.141592653589793
389
+ }
390
+ }
391
+ {
392
+ "aim_landmark": {
393
+ "color": "white",
394
+ "feature": "ornate detailing",
395
+ "position": [
396
+ -492.58527000000004,
397
+ 1242.76281,
398
+ 0.0
399
+ ],
400
+ "shape": "rectangular",
401
+ "dir": "center",
402
+ "size": "high-rise",
403
+ "type": "building"
404
+ }
405
+ }
Image/env_ue_bigcity/astar_data/high_average/2025-1-4_14-30-35_222028828/pose.jsonl ADDED
@@ -0,0 +1,80 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 627.3203890553584,
6
+ 1702.5972299834605,
7
+ 76.36524208862932
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 630.3203890553584,
19
+ 1702.5972299834605,
20
+ 76.36524208862932
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 633.3203890553584,
32
+ 1702.5972299834605,
33
+ 76.36524208862932
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 636.3203890553584,
45
+ 1702.5972299834605,
46
+ 76.36524208862932
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 639.3203890553584,
58
+ 1702.5972299834605,
59
+ 76.36524208862932
60
+ ],
61
+ "type": "stop",
62
+ "value": 0,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "aim_landmark": {
68
+ "color": "beige",
69
+ "feature": "classical architectural elements",
70
+ "position": [
71
+ 737.30148,
72
+ 1703.33406,
73
+ 0.0
74
+ ],
75
+ "shape": "rectangular",
76
+ "dir": "center",
77
+ "size": "high-rise",
78
+ "type": "building"
79
+ }
80
+ }